Update the helper scripts documentation and update release notes

ros-controls · Jul 29, 2024 · caf22b8 · caf22b8
1 parent abc1e12
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diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -149,7 +149,7 @@ There are two scripts to interact with controller manager from launch files:
                       controller_name
 
     positional arguments:
-      controller_name       Name of the controller
+      controller_names      List of controllers
 
     options:
       -h, --help            show this help message and exit
@@ -158,14 +158,16 @@ There are two scripts to interact with controller manager from launch files:
       -p PARAM_FILE, --param-file PARAM_FILE
                             Controller param file to be loaded into controller node before configure
       -n NAMESPACE, --namespace NAMESPACE
-                            Namespace for the controller
+                            Namespace for the controller_manager and the controller(s) (deprecated)
       --load-only           Only load the controller and leave unconfigured.
       --inactive            Load and configure the controller, however do not activate them
-      -t CONTROLLER_TYPE, --controller-type CONTROLLER_TYPE
-                            If not provided it should exist in the controller manager namespace
       -u, --unload-on-kill  Wait until this application is interrupted and unload controller
       --controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT
                             Time to wait for the controller manager
+      --activate-as-group   Activates all the parsed controllers list together instead of one by one. Useful for activating all chainable controllers altogether
+      --fallback_controllers FALLBACK_CONTROLLERS [FALLBACK_CONTROLLERS ...]
+                            Fallback controllers list are activated as a fallback strategy when the spawned controllers fail. When the argument is provided, it takes precedence over the fallback_controllers list in the
+                            param file
 
 
 ``unspawner``

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -70,6 +70,7 @@ controller_manager
    The parameters within the ``ros2_control`` tag are not supported any more.
 * The support for the ``description`` parameter for loading the URDF was removed (`#1358 <https://github.com/ros-controls/ros2_control/pull/1358>`_).
 * The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
+* The ``--namespace`` or ``-n`` spawner arg is deprecated. Now the spawner namespace can be defined using the ROS 2 standard way (`#1640 <https://github.com/ros-controls/ros2_control/pull/1640>`_).
 
 hardware_interface
 ******************