Add list_hardware_components section to docs

example_4/doc/userdoc.rst

@@ -66,6 +66,30 @@ Tutorial steps
 
  Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.
 
+ Now, lets introspect the hardware components with
+
+ .. code-block:: shell
+
+ ros2 control list_hardware_components -v
+
+ There is a single hardware component for the robot providing the command and state interfaces:
+
+ .. code-block:: shell
+
+ Hardware Component 1
+ name: RRBotSystemWithSensor
+ type: system
+ plugin name: ros2_control_demo_example_4/RRBotSystemWithSensorHardware
+ state: id=3 label=active
+ command interfaces
+ joint1/position [available] [claimed]
+ joint2/position [available] [claimed]
+ state interfaces
+ joint1/position [available]
+ joint2/position [available]
+ tcp_fts_sensor/force.x [available]
+ tcp_fts_sensor/torque.z [available]
+
 4. Check if controllers are running
 
  .. code-block:: shell

example_5/doc/userdoc.rst

@@ -69,6 +69,31 @@ Tutorial steps
 
  Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.
 
+ Now, lets introspect the hardware components with
+
+ .. code-block:: shell
+
+ ros2 control list_hardware_components
+
+ There are two hardware components, one for the robot and one for the sensor:
+
+ .. code-block:: shell
+
+ Hardware Component 1
+ name: ExternalRRBotFTSensor
+ type: sensor
+ plugin name: ros2_control_demo_example_5/ExternalRRBotForceTorqueSensorHardware
+ state: id=3 label=active
+ command interfaces
+ Hardware Component 2
+ name: RRBotSystemPositionOnly
+ type: system
+ plugin name: ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware
+ state: id=3 label=active
+ command interfaces
+ joint1/position [available] [claimed]
+ joint2/position [available] [claimed]
+
 4. Check if controllers are running
 
  .. code-block:: shell

example_6/doc/userdoc.rst

@@ -62,6 +62,31 @@ Tutorial steps
 
  Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.
 
+ Now, lets introspect the hardware components with
+
+ .. code-block:: shell
+
+ ros2 control list_hardware_components
+
+ There are two hardware components, one for each actuator and one for each sensor:
+
+ .. code-block:: shell
+
+ Hardware Component 1
+ name: RRBotModularJoint2
+ type: actuator
+ plugin name: ros2_control_demo_example_6/RRBotModularJoint
+ state: id=3 label=active
+ command interfaces
+ joint2/position [available] [claimed]
+ Hardware Component 2
+ name: RRBotModularJoint1
+ type: actuator
+ plugin name: ros2_control_demo_example_6/RRBotModularJoint
+ state: id=3 label=active
+ command interfaces
+ joint1/position [available] [claimed]
+
 4. Check if controllers are running
 
  .. code-block:: shell
@@ -70,8 +95,8 @@ Tutorial steps
 
  .. code-block:: shell
 
- forward_position_controller[forward_command_controller/ForwardCommandController]
- joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]
+ forward_position_controller[forward_command_controller/ForwardCommandController] active
+ joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
 
 5. If you get output from above you can send commands to *Forward Command Controller*, either: