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Fix rst markup (#1642)
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* Fix rqt_cm paragraph

* Fix indent
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christophfroehlich authored Jul 29, 2024
1 parent 872029c commit 742a9fd
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6 changes: 3 additions & 3 deletions controller_manager/doc/userdoc.rst
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Expand Up @@ -190,14 +190,14 @@ A GUI tool to interact with the controller manager services to be able to switch

.. image:: images/rqt_controller_manager.png

It can be launched independently using the following command or as rqt plugin.
It can be launched independently using the following command or as rqt plugin:

.. code-block:: console
ros2 run rqt_controller_manager rqt_controller_manager
* Double-click on a controller or hardware component to show the additional info.
* Right-click on a controller or hardware component to show a context menu with options for lifecycle management.
* Double-click on a controller or hardware component to show the additional info.
* Right-click on a controller or hardware component to show a context menu with options for lifecycle management.

Using the Controller Manager in a Process
-----------------------------------------
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7 changes: 4 additions & 3 deletions doc/debugging.rst
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Expand Up @@ -65,10 +65,11 @@ Additional notes

* Realtime

.. warning::
The ``update/on_activate/on_deactivate`` method of a controller and the ``read/write/on_activate/perform_command_mode_switch`` methods of a hardware component all run in the context of the realtime update loop. Setting breakpoints there can and will cause issues that might even break your hardware in the worst case.
.. warning::

From experience, it might be better to use meaningful logs for the real-time context (with caution) or to add additional debug state interfaces (or publishers in the case of a controller).
The ``update/on_activate/on_deactivate`` method of a controller and the ``read/write/on_activate/perform_command_mode_switch`` methods of a hardware component all run in the context of the realtime update loop. Setting breakpoints there can and will cause issues that might even break your hardware in the worst case.

From experience, it might be better to use meaningful logs for the real-time context (with caution) or to add additional debug state interfaces (or publishers in the case of a controller).

However, running the controller_manager and your plugin with gdb can still be very useful for debugging errors such as segfaults, as you can gather a full backtrace.

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