Merge pull request #156 from UniversalRobots/ros_documentation

Use section commands for each individual topic/service/parameter url

Author: Felix Exner

controller_stopper/README.md

@@ -1,32 +1,32 @@
 # controller_stopper
 
-A small helper node that stops and restarts ROS controllers based on a boolean status topic.
-
-When the status goes to `false`, all running controllers except a set of predefined
-*consistent_controllers* get stopped. If status returns to `true` the stopped controllers are
-restarted.
+A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to `false`, all running controllers except a set of predefined *consistent_controllers* get stopped. If status returns to `true` the stopped controllers are restarted.
 
 ## Nodes
+
 ### controller_stopper_node
 
 
 
 #### Parameters
- * **"consistent_controllers (list of strings)"**
 
-    Consistent controllers will not be stopped when the robot stops. Defaults to  ["joint_state_controller"]
+##### consistent_controllers (default: ["joint_state_controller"])
+
+Consistent controllers will not be stopped when the robot stops. Defaults to ["joint_state_controller"]
 
 #### Service Clients
- * **"controller_manager/list_controllers"** ([controller_manager_msgs::ListControllers](http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html))
 
-    Controller manager service to list controllers
+##### controller_manager/list_controllers ([controller_manager_msgs/ListControllers](http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html))
 
- * **"controller_manager/switch_controller"** ([controller_manager_msgs::SwitchController](http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html))
+Controller manager service to list controllers
 
-    Controller manager service to switch controllers
+##### controller_manager/switch_controller ([controller_manager_msgs/SwitchController](http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html))
+
+Controller manager service to switch controllers
 
 #### Subscribed topics
- * **"robot_running"** ([std_msgs::Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html))
 
-    Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes  on changes. However, this node only reacts on state changes, so a state published each cycle  would also be fine.
+##### robot_running ([std_msgs/Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html))
+
+Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.