From fa301f43e6b85d364b42247d8f1b6594cc5ce6c1 Mon Sep 17 00:00:00 2001 From: Mateus Menezes Date: Mon, 5 Aug 2024 03:45:17 -0300 Subject: [PATCH] Fix wrong method name in write new controller doc (#1240) Due to https://github.com/ros-controls/ros2_control/pull/1169 --- doc/writing_new_controller.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/writing_new_controller.rst b/doc/writing_new_controller.rst index 1a9ffce714..5aa7068b98 100644 --- a/doc/writing_new_controller.rst +++ b/doc/writing_new_controller.rst @@ -42,7 +42,7 @@ The following is a step-by-step guide to create source files, basic tests, and c 5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``on_init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``. For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers `_. - 6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``get_node_options``. + 6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``define_custom_node_options``. 7. (Optional) Often, controllers accept lists of joint names and interface names as parameters. If so, you can add two protected string vectors to store those values.