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Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
ros-controls · Jan 12, 2024 · 116bef9 · 116bef9
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diff --git a/README.md b/README.md
@@ -70,9 +70,11 @@ The following examples are part of this demo repository:
 
 * Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
 
-* Example 15: ["Using multiple controller managers under different namespaces"](example_15)
+   The example shows how to implement robot hardware with actuators not providing states and with additional sensors.
 
-   This example shows how to include multiple robots in namespaced controller manager instances.
+* Example 15: ["Using multiple controller managers"](example_15)
+
+   This example shows how to integrate multiple robots under different controller manager instances.
 
 ## Structure
 

diff --git a/doc/index.rst b/doc/index.rst
@@ -80,8 +80,8 @@ Example 13: "Multi-robot example (tba.)"
 Example 14: "Modular robots with actuators not providing states and with additional sensors"
    The example shows how to implement robot hardware with actuators not providing states and with additional sensors.
 
-Example 15: "Using multiple controller managers under different namespaces"
-   This example shows how to include multiple robots in namespaced controller manager instances.
+Example 15: "Using multiple controller managers"
+   This example shows how to integrate multiple robots under different controller manager instances.
 
 
 .. _ros2_control_demos_install:
@@ -276,4 +276,4 @@ Examples
    Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>
    Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>
-   Example 15: Using multiple controller managers under different namespaces <../example_15/doc/userdoc.rst>
+   Example 15: Using multiple controller managers <../example_15/doc/userdoc.rst>
diff --git a/example_15/README.md b/example_15/README.md
@@ -1,5 +1,5 @@
 # ros2_control_demo_example_15
 
-   This example shows how to include multiple robots in namespaced controller manager instances.
+   This example shows how to integrate multiple robots under different controller manager instances.
 
 Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_15/doc/userdoc.html).
diff --git a/example_15/doc/userdoc.rst b/example_15/doc/userdoc.rst
@@ -2,15 +2,15 @@
 
 .. _ros2_control_demos_example_15_userdoc:
 
-Example 15: Using multiple controller managers under different namespaces
-=========================================================================
+Example 15: Using multiple controller managers
+==============================================
 
-This example shows how to include multiple robots in namespaced controller manager instances.
+This example shows how to integrate multiple robots under different controller manager instances.
 
 .. include:: ../../doc/run_from_docker.rst
 
-Scenario showcase: Using ros2_control within a local namespace
-----------------------------------------------------------------
+Scenario: Using ros2_control within a local namespace
+-----------------------------------------------------
 
 * Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
 * Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
@@ -75,8 +75,8 @@ Commanding the robot using ``JointTrajectoryController`` (name: ``/rrbot/positio
 
   ros2 launch ros2_control_demo_example_15 test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml
 
-Scenario showcase: Using multiple controller managers on the same machine
--------------------------------------------------------------------------
+Scenario: Using multiple controller managers on the same machine
+----------------------------------------------------------------
 
 * Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
 * Controllers yaml: