diff --git a/example_12/doc/userdoc.rst b/example_12/doc/userdoc.rst index e24533d24..42ad53250 100644 --- a/example_12/doc/userdoc.rst +++ b/example_12/doc/userdoc.rst @@ -80,7 +80,8 @@ Tutorial steps Marker ``[unclaimed]`` by command interfaces means that the reference interfaces of ``joint1_position_controller`` and ``joint2_position_controller`` are not yet in chained mode. However, their reference interfaces are available to be chained, as the controllers are active. - .. note:: + .. note:: + In case of chained controllers, the command interfaces appear to be ``unavailable`` and ``unclaimed``, even though the controllers whose exposed reference interfaces are active, because these command interfaces become ``available`` only in chained mode i.e., when an another controller makes use of these command interface. In non-chained mode, it is expected for the chained controller to use references from subscribers, hence they are marked as ``unavailable``. 5. To start the complete controller chain, open a terminal, source your ROS2-workspace and execute its launch file with