Add documentation about initial_value regarding mock_hw

ros-controls · Jan 31, 2024 · 3471736 · 3471736
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diff --git a/hardware_interface/doc/hardware_interface_types_userdoc.rst b/hardware_interface/doc/hardware_interface_types_userdoc.rst
@@ -85,7 +85,9 @@ They can be combined together within the different hardware component types (sys
  </gpio>
  <gpio name="flange_analog_IOs">
  <command_interface name="analog_output1"/>
- <state_interface name="analog_output1"/> <!-- Needed to know current state of the output -->
+ <state_interface name="analog_output1"> <!-- Needed to know current state of the output -->
+ <param name="initial_value">3.1</param> <!-- Optional initial value for mock_hardware or gazebo -->
+ </state_interface>
  <state_interface name="analog_input1"/>
  <state_interface name="analog_input2"/>
  </gpio>

diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst
@@ -53,3 +53,17 @@ mimic (optional; string)
 
 multiplier (optional; double; default: 1; used if mimic joint is defined)
  Multiplier of values for mimicking joint defined in ``mimic`` parameter. Example: ``<param name="multiplier">-2</param>``.
+
+Per-interface Parameters
+,,,,,,,,,,,,,,,,,,,,,,,,
+
+initial_value (optional; double)
+ Initial value of certain state interface directly after startup. Example:
+
+ .. code-block:: xml
+
+ <state_interface name="position">
+ <param name="initial_value">3.45</param>
+ </state_interface>
+
+ Note: This parameter is shared with the gazebo and gazebo classic plugins.