Merge branch 'master' into fix/missing/resources_lock

.github/workflows/rosdoc2.yml

@@ -0,0 +1,14 @@
+name: rosdoc2
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - ros2_control/doc/**
+      - ros2_control/rosdoc2.yaml
+      - ros2_control/package.xml
+
+
+jobs:
+  check:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master

.pre-commit-config.yaml

@@ -26,6 +26,7 @@ repos:
       - id: check-symlinks
       - id: check-xml
       - id: check-yaml
+        args: ["--allow-multiple-documents"]
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending

controller_manager/doc/userdoc.rst

@@ -184,6 +184,21 @@ There are two scripts to interact with controller manager from launch files:
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
 
+rqt_controller_manager
+----------------------
+A GUI tool to interact with the controller manager services to be able to switch the lifecycle states of the controllers as well as the hardware components.
+
+.. image:: images/rqt_controller_manager.png
+
+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.
+
 Using the Controller Manager in a Process
 -----------------------------------------