Update docs

README.md

@@ -60,7 +60,7 @@ The following examples are part of this demo repository:
 
 * Example 13: "Multi-robot example (tba.)"
 
-* Example 14: ["Modular Robots with actuators not providing states and with additional sensors"](example_14)
+* Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
 
 ## Getting started
 

doc/index.rst

@@ -52,10 +52,10 @@ Example 3: "RRBot with multiple interfaces"
 Example 4: "Industrial robot with integrated sensor"
    *RRBot* with an integrated sensor.
 
-Example 5: "Industrial Robots with externally connected sensor"
+Example 5: "Industrial robot with externally connected sensor"
    *RRBot* with an externally connected sensor.
 
-Example 6: "Modular Robots with separate communication to each actuator"
+Example 6: "Modular robot with separate communication to each actuator"
    The example shows how to implement robot hardware with separate communication to each actuator.
 
 Example 7: "6-DOF robot"
@@ -75,7 +75,7 @@ Example 12: "Controller chaining example (tba.)"
 
 Example 13: "Multi-robot example (tba.)"
 
-Example 14: "Modular Robots with actuators not providing states and with additional sensors"
+Example 14: "Modular robots with actuators not providing states and with additional sensors"
 
 
 .. _ros2_control_demos_install:
@@ -264,4 +264,4 @@ Examples
    Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
    Example 8: Using transmissions <../example_8/doc/userdoc.rst>
    Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
-   Example 14: Modular Robots with actuators not providing states <../example_14/doc/userdoc.rst>
+   Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>

example_14/doc/userdoc.rst

@@ -2,17 +2,17 @@
 
 .. _ros2_control_demos_example_14_userdoc:
 
-***********************************************************************
-Example 6: Modular Robots with separate communication to each actuator
-***********************************************************************
+**************************************************************
+Example 14: Modular robot with actuators not providing states
+**************************************************************
 
-The example shows how to implement robot hardware with separate communication to each actuator:
+The example shows how to implement robot hardware with separate communication to each actuator as well as separate sensors for position feedback:
 
 * The communication is done on actuator level using proprietary or standardized API (e.g., canopen_402, Modbus, RS232, RS485).
-* Data for all actuators is exchanged separately from each other.
-* Examples: Mara, Arduino-based-robots
+* Data for all actuators and sensors is exchanged separately from each other
+* Examples: Arduino-based-robots, custom robots
 
-This is implemented with a hardware interface of type ``hardware_interface::ActuatorInterface``.
+This is implemented with hardware interfaces of type ``hardware_interface::ActuatorInterface`` and ``hardware_interface::SensorInterface``.
 
 .. include:: ../../doc/run_from_docker.rst