From 9a5ad95af0eb0247b45f1b2af3c909dacd0bafc0 Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Thu, 22 Feb 2024 13:09:25 +0100 Subject: [PATCH] Update controller_manager/doc/userdoc.rst Co-authored-by: Sai Kishor Kothakota --- controller_manager/doc/userdoc.rst | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index a599698d84..0d71cf5b7f 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -89,11 +89,9 @@ robot_description (std_msgs/msg/String) Handling Multiple Controller Managers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -When dealing with multiple controller managers, you can manage different robot descriptions either -using remappings or putting both, the ``robot_state_publisher`` and the ``controller_manager`` into -the same namespace. +When dealing with multiple controller managers, you have two options for managing different robot descriptions: -Using namespaces a snippet of a launchfile could look like the following: +1. **Using Namespaces:** You can place both the ``robot_state_publisher`` and the ``controller_manager`` nodes into the same namespace. .. code-block:: python @@ -112,8 +110,7 @@ Using namespaces a snippet of a launchfile could look like the following: namespace="rrbot", ) - -Using remappings: +2. **Using Remappings:** You can use remappings to handle different robot descriptions. This involves relaying topics using the ``remappings`` tag, allowing you to specify custom topics for each controller manager. .. code-block:: python