From fe635c94866486ebfdb94b5c16de41a64643f76f Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Tue, 8 Aug 2023 08:37:03 +0200 Subject: [PATCH] added demonstration purposes note --- example_12/doc/userdoc.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/example_12/doc/userdoc.rst b/example_12/doc/userdoc.rst index f7fbb08f0..766c55ddb 100644 --- a/example_12/doc/userdoc.rst +++ b/example_12/doc/userdoc.rst @@ -92,6 +92,10 @@ Tutorial steps This launch file starts the ``position_controller`` that uses the reference interfaces of both ``joint1_position_controller`` and ``joint2_position_controller`` and streamlines into one, and then the ``forward_position_controller`` uses the reference interfaces of the ``position_controller`` to command the *RRBot* joints. + .. note:: + + The second level ``position_controller`` is only added for demonstration purposes, however, a new chainable controller can be configured to directly command the reference interfaces of both ``joint1_position_controller`` and ``joint2_position_controller``. + 6. Check if the new controllers are running by .. code-block:: shell