docs: Add documentation for utility scripts in controller_manager - #3175
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ultrasage-danz wants to merge 6 commits into
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docs: Add documentation for utility scripts in controller_manager#3175ultrasage-danz wants to merge 6 commits into
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March 28, 2026 22:52
- Add detailed parameter structure for joint limiting - Document three configuration methods: YAML, URDF, runtime - Explain Saturation Limiter algorithm with examples - Explain Soft Limiter spring-damper model - Document dual enforcement strategy and thread safety - Add best practices for joint limit configuration Closes ros-controls#2262
…ces and launch_utils)
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please remove the changes to the hardware_interface package (this is already in #3166)
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…ycle example using service wrappers
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please remove the changes to the hardware_interface package (this is already in #3166)
Removed detailed configuration instructions for joint limits, including parameter structure and methods of configuration.
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Closes #488
Summary
Added comprehensive documentation for utility scripts:
controller_manager_services.SingletonServiceCaller: Service client utility for programmatic controller managementlaunch_utils.generate_controllers_spawner_launch_description(): Helper to generate launch descriptionslaunch_utils.generate_controllers_spawner_launch_description_from_dict(): Dictionary-based alternativeChanges
controller_manager/doc/userdoc.rstRelated
Addresses the missing documentation mentioned in #488 comment about
generate_controllers_spawner_launch_description