Added docstrings to pubsub and service functions

Author: jdlangs

src/pubsub.jl

@@ -3,6 +3,13 @@ export Publisher, Subscriber, publish
 
 using Compat
 
+"""
+    Publisher{T}(topic; kwargs...)
+    Publisher(topic, T; kwargs...)
+
+Create an object to publish messages of type `T` on a topic. Keyword arguments are directly passed
+to rospy.
+"""
 type Publisher{MsgType<:AbstractMsg}
     o::PyObject
 
@@ -16,10 +23,22 @@ end
 Publisher{MT<:AbstractMsg}(topic::AbstractString, ::Type{MT}; kwargs...) =
     Publisher{MT}(ascii(topic); kwargs...)
 
+"""
+    publish(p::Publisher{T}, msg::T)
+
+Publish `msg` on `p`, a `Publisher` with matching message type.
+"""
 function publish{MT<:AbstractMsg}(p::Publisher{MT}, msg::MT)
     pycall(p.o["publish"], PyAny, convert(PyObject, msg))
 end
 
+"""
+    Subscriber{T}(topic, callback, cb_args=(); kwargs...)
+    Subscriber(topic, T, callback, cb_args=(); kwargs...)
+
+Create a subscription to a topic with a callback to use when a message is received, which can be any
+callable type. Keyword arguments are directly passed to rospy.
+"""
 type Subscriber{MsgType<:AbstractMsg}
     callback
     callback_args::Tuple

src/services.jl

@@ -3,6 +3,13 @@ export Service, ServiceProxy, wait_for_service
 
 using Compat
 
+"""
+    ServiceProxy{T}(name; kwargs...)
+    ServiceProxy(name, T; kwargs...)
+
+Create a proxy object used to invoke a remote service. Use `srv_proxy(msg_request)` with the object
+to invoke the service call. Keyword arguments are directly passed to rospy.
+"""
 type ServiceProxy{SrvType <: AbstractService}
     o::PyObject
 
@@ -32,6 +39,13 @@ end
     resp
 end
 
+"""
+    Service{T}(name, callback; kwargs...)
+    Service(name, T, callback; kwargs...)
+
+Create a service object that can receive requests and provide responses. The callback can be of
+any callable type. Keyword arguments are directly passed to rospy.
+"""
 type Service{SrvType <: AbstractService}
     handler
     srv_obj::PyObject
@@ -71,6 +85,12 @@ function Service{ST<:AbstractService}(name::AbstractString, srv::Type{ST}, handl
     Service{ST}(ascii(name), handler; kwargs...)
 end
 
+"""
+    wait_for_service(srv_name; kwargs...)
+
+Block until the specified service is available. Keyword arguments are directly passed to rospy.
+Throws an exception if the waiting timeout period is exceeded.
+"""
 function wait_for_service(service::AbstractString; kwargs...)
     try
         __rospy__[:wait_for_service](ascii(service); kwargs...)