user doc reformatted

ros-controls · Jan 3, 2025 · 37874af · 37874af
1 parent 3943aff
commit 37874af
Showing 1 changed file with 73 additions and 72 deletions.
diff --git a/io_gripper_controller/doc/userdoc.rst b/io_gripper_controller/doc/userdoc.rst
@@ -5,13 +5,13 @@
 io_gripper_controller
 =============================
 
-The IO Gripper Controller provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes `joint_states` of gripper and also `dynamic_interfaces` for all command and state interfaces.
+The IO Gripper Controller provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes ``joint_states`` of gripper and also ``dynamic_interfaces`` for all command and state interfaces.
 
 Description of controller's interfaces
 ---------------------------------------
 
-- `joint_states` [`sensor_msgs::msg::JointState`]: Publishes the state of gripper joint and configuration joint
-- `dynamic_interfaces` [`control_msgs::msg::DynamicInterfaceValues`]: Publishes all command and state interface of the IOs and sensors of gripper.
+- ``joint_states`` [``sensor_msgs::msg::JointState``]: Publishes the state of gripper joint and configuration joint
+- ``dynamic_interfaces`` [``control_msgs::msg::DynamicInterfaceValues``]: Publishes all command and state interface of the IOs and sensors of gripper.
 
 
 Parameters
@@ -27,73 +27,74 @@ This controller adds the following parameters:
 Example parameters
 ....................
 
-```
-io_gripper_controller:
-
-  ros__parameters:
-
-    use_action: true
-
-    open_close_joints: [gripper_clamp_jaw]
-
-    open:
-      joint_states: [0.0]
-      set_before_command:
-        high: [EL2008/Bremse_WQG7]
-        low: []
-      command:
-        high: [EL2008/Greiferteil_Oeffnen_WQG1]
-        low: [EL2008/Greiferteil_Schliessen_WQG2]
-      state:
-        high: [EL1008/Greifer_Geoeffnet_BG01]
-        low: [EL1008/Greifer_Geschloschen_BG02]
-      set_after_command:
-        high: []
-        low: [EL2008/Bremse_WQG7]
-
-    possible_closed_states: ['empty_close', 'full_close']
-
-    close:
-      set_before_command:
-        high: [EL2008/Bremse_WQG7]
-        low: [EL2008/Greiferteil_Oeffnen_WQG1]
-      command:
-        high: [EL2008/Greiferteil_Schliessen_WQG2]
-        low: [EL2008/Greiferteil_Oeffnen_WQG1]
-      state:
-        empty_close:
-          joint_states: [0.08]
-          high: [EL1008/Greifer_Geschloschen_BG02]
-          low: [EL1008/Bauteilabfrage_BG06]
-          set_after_command_high: [EL2008/Bremse_WQG7]
-          set_after_command_low: [EL2008/Bremse_WQG7]
-        full_close:
-          joint_states: [0.08]
-          high: [EL1008/Bauteilabfrage_BG06]
+.. code-block:: yaml
+
+  io_gripper_controller:
+
+    ros__parameters:
+
+      use_action: true
+
+      open_close_joints: [gripper_clamp_jaw]
+
+      open:
+        joint_states: [0.0]
+        set_before_command:
+          high: [EL2008/Bremse_WQG7]
+          low: []
+        command:
+          high: [EL2008/Greiferteil_Oeffnen_WQG1]
+          low: [EL2008/Greiferteil_Schliessen_WQG2]
+        state:
+          high: [EL1008/Greifer_Geoeffnet_BG01]
           low: [EL1008/Greifer_Geschloschen_BG02]
-          set_after_command_high: [EL2008/Bremse_WQG7]
-          set_after_command_low: [EL2008/Bremse_WQG7]
-
-    configurations: ["stichmass_125", "stichmass_250"]
-    configuration_joints: [gripper_gripper_distance_joint]
-
-    configuration_setup:
-      stichmass_125:
-        joint_states: [0.125]
-        command_high: [EL2008/Stichmass_125_WQG5]
-        command_low: [EL2008/Stichmass_250_WQG6]
-        state_high: [EL1008/Stichmass_125mm_BG03]
-        state_low: [EL1008/Stichmass_250mm_BG04]
-      stichmass_250:
-        joint_states: [0.250]
-        command_high: [EL2008/Stichmass_250_WQG6]
-        command_low: [EL2008/Stichmass_125_WQG5]
-        state_high: [EL1008/Stichmass_250mm_BG04]
-        state_low: [EL1008/Stichmass_125mm_BG03]
-
-    gripper_specific_sensors: ["hohenabfrage", "bauteilabfrage"]
-    sensors_interfaces:
-      hohenabfrage:
-        input: "EL1008/Hohenabfrage_BG5"
-      bauteilabfrage:
-        input: "EL1008/Bauteilabfrage_BG06"
+        set_after_command:
+          high: []
+          low: [EL2008/Bremse_WQG7]
+
+      possible_closed_states: ['empty_close', 'full_close']
+
+      close:
+        set_before_command:
+          high: [EL2008/Bremse_WQG7]
+          low: [EL2008/Greiferteil_Oeffnen_WQG1]
+        command:
+          high: [EL2008/Greiferteil_Schliessen_WQG2]
+          low: [EL2008/Greiferteil_Oeffnen_WQG1]
+        state:
+          empty_close:
+            joint_states: [0.08]
+            high: [EL1008/Greifer_Geschloschen_BG02]
+            low: [EL1008/Bauteilabfrage_BG06]
+            set_after_command_high: [EL2008/Bremse_WQG7]
+            set_after_command_low: [EL2008/Bremse_WQG7]
+          full_close:
+            joint_states: [0.08]
+            high: [EL1008/Bauteilabfrage_BG06]
+            low: [EL1008/Greifer_Geschloschen_BG02]
+            set_after_command_high: [EL2008/Bremse_WQG7]
+            set_after_command_low: [EL2008/Bremse_WQG7]
+
+      configurations: ["stichmass_125", "stichmass_250"]
+      configuration_joints: [gripper_gripper_distance_joint]
+
+      configuration_setup:
+        stichmass_125:
+          joint_states: [0.125]
+          command_high: [EL2008/Stichmass_125_WQG5]
+          command_low: [EL2008/Stichmass_250_WQG6]
+          state_high: [EL1008/Stichmass_125mm_BG03]
+          state_low: [EL1008/Stichmass_250mm_BG04]
+        stichmass_250:
+          joint_states: [0.250]
+          command_high: [EL2008/Stichmass_250_WQG6]
+          command_low: [EL2008/Stichmass_125_WQG5]
+          state_high: [EL1008/Stichmass_250mm_BG04]
+          state_low: [EL1008/Stichmass_125mm_BG03]
+
+      gripper_specific_sensors: ["hohenabfrage", "bauteilabfrage"]
+      sensors_interfaces:
+        hohenabfrage:
+          input: "EL1008/Hohenabfrage_BG5"
+        bauteilabfrage:
+          input: "EL1008/Bauteilabfrage_BG06"