Reduce docs warnings and correct adding guidelines (ros-controls#219)

* Correct docs

* More corrections

Author: destogl

diff_drive_controller/doc/userdoc.rst

@@ -1,24 +1,24 @@
 .. _diff_drive_controller_userdoc:
 
 diff_drive_controller
----------------------
+=====================
 
 Controller for mobile robots with differential drive.
 Input for control are robot body velocity commands which are translated to wheel commands for the differential drive base.
 Odometry is computed from hardware feedback and published.
 
 Velocity commands
-^^^^^^^^^^^^^^^^^
+-----------------
 
 The controller works with a velocity twist from which it extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
 
 Hardware interface type
-^^^^^^^^^^^^^^^^^^^^^^^
+-----------------------
 
 The controller works with wheel joints through a velocity interface.
 
 Other features
-^^^^^^^^^^^^^^
+--------------
 
     Realtime-safe implementation.
     Odometry publishing

doc/controllers_index.rst

@@ -33,11 +33,12 @@ Guidelines and Best Practices
 =============================
 
 .. toctree::
-   :titlesonly: 1
+   :titlesonly:
    :glob:
 
    *
 
+
 Available Controllers
 =====================
 
@@ -51,6 +52,7 @@ Available Controllers
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
 
+
 Available Broadcasters
 ======================
 

doc/writing_new_controller.rst

@@ -104,6 +104,7 @@ The following is a step-by-step guide to create source files, basic tests, and c
 
    5. Export for pluginlib description file using the following command:
       .. code:: cmake
+
          pluginlib_export_plugin_description_file(controller_interface <controller_name>.xml)
 
    6. Add install directives for targets and include directory.

effort_controllers/doc/userdoc.rst

@@ -1,11 +1,11 @@
 .. _effort_controllers_userdoc:
 
 effort_controllers
----------------------
+==================
 
 This is a collection of controllers that work using the "effort" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the effort on a certain joint to achieve a set position.
 
 Hardware interface type
-^^^^^^^^^^^^^^^^^^^^^^^
+-----------------------
 
 These controllers work with joints using the "effort" command interface.

forward_command_controller/doc/userdoc.rst

@@ -1,11 +1,11 @@
 .. _forward_command_controller_userdoc:
 
 forward_command_controller
---------------------------
+==========================
 
 This is a collection of controllers that work using the "effort" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the effort on a certain joint to achieve a set position.
 
 Hardware interface type
-^^^^^^^^^^^^^^^^^^^^^^^
+-----------------------
 
 These controllers work with joints using the "effort" command interface.

joint_state_broadcaster/doc/userdoc.rst

@@ -1,21 +1,22 @@
 .. _joint_state_broadcaster_userdoc:
 
 joint_state_broadcaster
-----------------------
+=======================
 
 The broadcaster reads all state interfaces and reports them on ``/joint_states`` and ``/dynamic_joint_states``.
 
 Commands
-^^^^^^^^
+--------
 
 Broadcasters are not real controllers, and therefore take no commands.
 
 Hardware interface type
-^^^^^^^^^^^^^^^^^^^^^^^
+-----------------------
 
 All available *joint state interfaces* are used by this broadcaster.
 
 Parameters
-^^^^^^^^^^
+----------
 
-The parameter ``extra_joints`` is optional and is an array of strings consisting of the names of the extra joints that will be added to ``/joint_states`` and ``/dynamic_joint_states`` with state set to 0.
+extra_joints (optional; string array; default: empty)
+  Names of extra joints to be added to ``/joint_states`` and ``/dynamic_joint_states`` with state set to 0.

joint_trajectory_controller/doc/userdoc.rst

@@ -1,7 +1,7 @@
 .. _joint_trajectory_controller_userdoc:
 
 joint_trajectory_controller
----------------------------
+===========================
 
 Controller for executing joint-space trajectories on a group of joints. Trajectories are specified as a set of waypoints to be reached at specific time instants, which the controller attempts to execute as well as the mechanism allows. Waypoints consist of positions, and optionally velocities and accelerations.
 
@@ -95,6 +95,7 @@ The following version of the Joint Trajectory Controller are available mapping t
   - position_velocity_acceleration_controllers::JointTrajectoryController
     - Input: position, [velocity, [acceleration]]
     - Output: position, velocity and acceleration
+
 ..   - velocity_controllers::JointTrajectoryController
 ..     - Input: position, [velocity, [acceleration]]
 ..     - Output: velocity

position_controllers/doc/userdoc.rst

@@ -1,11 +1,11 @@
 .. _position_controllers_userdoc:
 
 position_controllers
----------------------
+=====================
 
 This is a collection of controllers that work using the "position" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the position on a certain joint to achieve a set velocity.
 
 Hardware interface type
-^^^^^^^^^^^^^^^^^^^^^^^
+-----------------------
 
 These controllers work with joints using the "position" command interface.

velocity_controllers/doc/userdoc.rst

@@ -1,11 +1,11 @@
 .. _velocity_controllers_userdoc:
 
 velocity_controllers
----------------------
+====================
 
 This is a collection of controllers that work using the "velocity" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the velocity on a certain joint to achieve a set position.
 
 Hardware interface type
-^^^^^^^^^^^^^^^^^^^^^^^
+-----------------------
 
 These controllers work with joints using the "velocity" command interface.