From 62dfc360581085efe44fb2ed0a818e5a315e8d00 Mon Sep 17 00:00:00 2001 From: Bhavin Umatiya Date: Wed, 25 Mar 2026 11:28:54 +0530 Subject: [PATCH] Fix TOC in docs Cherry-pick changes from 7b2462a to fix the broken motion_primitive_controller TOC. - Move README.md and userdoc.rst into doc/ subdirectory - Fix path in controllers_index.rst - Sort controller entries alphabetically - Add proper RST heading, description and warning - Split parameters into forward and trajectory sections - Fix relative paths for literalinclude and generate_parameter_library_details Fixes #2216 --- doc/controllers_index.rst | 4 +- .../{ => doc}/README.md | 0 motion_primitives_controllers/doc/userdoc.rst | 53 +++++++++++++++++++ motion_primitives_controllers/userdoc.rst | 19 ------- 4 files changed, 55 insertions(+), 21 deletions(-) rename motion_primitives_controllers/{ => doc}/README.md (100%) create mode 100644 motion_primitives_controllers/doc/userdoc.rst delete mode 100644 motion_primitives_controllers/userdoc.rst diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index b8e9f8a8ca..a2966bdb04 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -42,13 +42,13 @@ Controllers for Manipulators and Other Robots Admittance Controller <../admittance_controller/doc/userdoc.rst> Effort Controllers <../effort_controllers/doc/userdoc.rst> Forward Command Controller <../forward_command_controller/doc/userdoc.rst> + Gpio Command Controller <../gpio_controllers/doc/userdoc.rst> Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst> + Motion Primitive Controller <../motion_primitives_controllers/doc/userdoc.rst> Parallel Gripper Controller <../parallel_gripper_controller/doc/userdoc.rst> PID Controller <../pid_controller/doc/userdoc.rst> Position Controllers <../position_controllers/doc/userdoc.rst> Velocity Controllers <../velocity_controllers/doc/userdoc.rst> - Gpio Command Controller <../gpio_controllers/doc/userdoc.rst> - Motion Primitive Controller <../motion_primitives_controllers/userdoc.rst> Broadcasters ********************** diff --git a/motion_primitives_controllers/README.md b/motion_primitives_controllers/doc/README.md similarity index 100% rename from motion_primitives_controllers/README.md rename to motion_primitives_controllers/doc/README.md diff --git a/motion_primitives_controllers/doc/userdoc.rst b/motion_primitives_controllers/doc/userdoc.rst new file mode 100644 index 0000000000..a660df442a --- /dev/null +++ b/motion_primitives_controllers/doc/userdoc.rst @@ -0,0 +1,53 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/doc/userdoc.rst + +.. _motion_primitives_controllers_userdoc: + +motion_primitive_controllers +========================================== + +Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC) + +.. warning:: + + There is no guarantee that the motion defined by the motion primitive will actually be executed exactly as planned. In particular, for motions in Cartesian space such as LIN primitives, it is not necessarily ensured that the robot will execute the motion exactly in that way, since the inverse kinematics is not always unique. + +.. include:: README.md + :parser: myst_parser.sphinx_ + +Parameters +---------- + +These controllers use the `generate_parameter_library `_ to handle their parameters. + +Parameter of motion_primitives_forward_controller +................................................. + +.. _definition_file_forward: + +The parameter `definition file located in the src folder `__ contains descriptions for all the parameters used by this controller. + +.. generate_parameter_library_details:: ../src/motion_primitives_forward_controller_parameter.yaml + +.. _test_file_forward: + +An example parameter file for this controller can be found in `the test directory `__: + +.. literalinclude:: ../test/motion_primitives_forward_controller_params.yaml + :language: yaml + + +Parameter of motion_primitives_from_trajectory_controller +........................................................... + +.. _definition_file_trajectory: + +The parameter `definition file located in the src folder `__ contains descriptions for all the parameters used by this controller. + +.. generate_parameter_library_details:: ../src/motion_primitives_from_trajectory_controller_parameter.yaml + +.. _test_file_trajectory: + +An example parameter file for this controller can be found in `the test directory `__: + +.. literalinclude:: ../test/motion_primitives_from_trajectory_controller_params.yaml + :language: yaml diff --git a/motion_primitives_controllers/userdoc.rst b/motion_primitives_controllers/userdoc.rst deleted file mode 100644 index e199afa449..0000000000 --- a/motion_primitives_controllers/userdoc.rst +++ /dev/null @@ -1,19 +0,0 @@ -:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/userdoc.rst - -.. _motion_primitives_controllers_userdoc: - - -.. include:: README.md - :parser: myst_parser.sphinx_ - -Parameters -,,,,,,,,,,, - -This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. - -.. generate_parameter_library_details:: src/motion_primitives_forward_controller_parameter.yaml - -An example parameter file for this controller can be found in `the test directory `_: - -.. literalinclude:: test/motion_primitives_forward_controller_params.yaml - :language: yaml