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[PID] Add example yaml to docs #951

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Apr 29, 2024
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[PID] Add example yaml to docs #951

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b45acb0
Add default yaml to docs
christophfroehlich Dec 28, 2023
ee7cc77
Add examples from test folder
christophfroehlich Jan 9, 2024
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17 changes: 17 additions & 0 deletions pid_controller/doc/userdoc.rst
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Expand Up @@ -83,4 +83,21 @@ Parameters

The PID controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

List of parameters
=========================
.. generate_parameter_library_details:: ../src/pid_controller.yaml


An example parameter file
=========================


An example parameter file for this controller can be found in `the test folder (standalone) <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/test/pid_controller_params.yaml>`_:

.. literalinclude:: ../test/pid_controller_params.yaml
:language: yaml

or as `preceding controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/test/pid_controller_preceding_params.yaml>`_:

.. literalinclude:: ../test/pid_controller_preceding_params.yaml
:language: yaml
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