From 804dc471f830c85421558f70b2685163c58b4486 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Tue, 8 Aug 2023 06:11:17 +0000 Subject: [PATCH] Remove title case and add some bullet points --- README.md | 2 +- doc/index.rst | 4 ++-- example_12/doc/userdoc.rst | 10 +++++----- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 0f0c6409..8a1276e7 100644 --- a/README.md +++ b/README.md @@ -56,7 +56,7 @@ The following examples are part of this demo repository: * Example 11: "Car-like robot using steering controller library (tba.)" -* Example 12: ["Controller Chaining"](example_12) +* Example 12: ["Controller chaining"](example_12) The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*. diff --git a/doc/index.rst b/doc/index.rst index dbc39676..a00f3c12 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -67,7 +67,7 @@ Example 8: "Using transmissions" Example 9: "Gazebo Classic" Demonstrates how to switch between simulation and hardware. -Example 12: "Controller Chaining" +Example 12: "Controller chaining" The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*. .. _ros2_control_demos_install: @@ -256,4 +256,4 @@ 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 12: Controller Chaining <../example_12/doc/userdoc.rst> + Example 12: Controller chaining <../example_12/doc/userdoc.rst> diff --git a/example_12/doc/userdoc.rst b/example_12/doc/userdoc.rst index 42ad5325..f7fbb08f 100644 --- a/example_12/doc/userdoc.rst +++ b/example_12/doc/userdoc.rst @@ -2,7 +2,7 @@ .. _ros2_control_demos_example_12_userdoc: -Example 12: Controller Chaining with RRBot +Example 12: Controller chaining with RRBot =========================================== The example shows how to write a simple chainable controller, and how to integrate it properly to have a functional controller chaining. @@ -72,13 +72,13 @@ Tutorial steps At this stage the reference interfaces of controllers are listed under ``command_interfaces`` when ``ros2 control list_hardware_interfaces`` command is executed. - Marker ``[available]`` by command interfaces means that the hardware interfaces are available and are ready to command. + * Marker ``[available]`` by command interfaces means that the hardware interfaces are available and are ready to command. - Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*. + * Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*. - Marker ``[unavailable]`` by command interfaces means that the hardware interfaces are unavailable and cannot be commanded. For instance, when there is an error in reading or writing an actuator module, it's interfaces are automatically become unavailable. + * Marker ``[unavailable]`` by command interfaces means that the hardware interfaces are unavailable and cannot be commanded. For instance, when there is an error in reading or writing an actuator module, it's interfaces are automatically become unavailable. - 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. + * 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::