user doc reformatted

Author: sachinkum0009

io_gripper_controller/doc/userdoc.rst

@@ -5,13 +5,13 @@
 io_gripper_controller
 =============================
 
-The IO Gripper Controller provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes `joint_states` of gripper and also `dynamic_interfaces` for all command and state interfaces.
+The IO Gripper Controller provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes ``joint_states`` of gripper and also ``dynamic_interfaces`` for all command and state interfaces.
 
 Description of controller's interfaces
 ---------------------------------------
 
-- `joint_states` [`sensor_msgs::msg::JointState`]: Publishes the state of gripper joint and configuration joint
-- `dynamic_interfaces` [`control_msgs::msg::DynamicInterfaceValues`]: Publishes all command and state interface of the IOs and sensors of gripper.
+- ``joint_states`` [``sensor_msgs::msg::JointState``]: Publishes the state of gripper joint and configuration joint
+- ``dynamic_interfaces`` [``control_msgs::msg::DynamicInterfaceValues``]: Publishes all command and state interface of the IOs and sensors of gripper.
 
 
 Parameters
@@ -27,73 +27,74 @@ This controller adds the following parameters:
 Example parameters
 ....................
 
-```
-io_gripper_controller:
-
-  ros__parameters:
-    
-    use_action: true
-    
-    open_close_joints: [gripper_clamp_jaw]
-       
-    open:
-      joint_states: [0.0]
-      set_before_command:
-        high: [EL2008/Bremse_WQG7]
-        low: []
-      command:
-        high: [EL2008/Greiferteil_Oeffnen_WQG1]
-        low: [EL2008/Greiferteil_Schliessen_WQG2]
-      state:
-        high: [EL1008/Greifer_Geoeffnet_BG01]
-        low: [EL1008/Greifer_Geschloschen_BG02]
-      set_after_command:
-        high: []
-        low: [EL2008/Bremse_WQG7]
-
-    possible_closed_states: ['empty_close', 'full_close']
-
-    close:
-      set_before_command:
-        high: [EL2008/Bremse_WQG7]
-        low: [EL2008/Greiferteil_Oeffnen_WQG1]
-      command:
-        high: [EL2008/Greiferteil_Schliessen_WQG2]
-        low: [EL2008/Greiferteil_Oeffnen_WQG1]
-      state:
-        empty_close:
-          joint_states: [0.08]
-          high: [EL1008/Greifer_Geschloschen_BG02]
-          low: [EL1008/Bauteilabfrage_BG06]
-          set_after_command_high: [EL2008/Bremse_WQG7]
-          set_after_command_low: [EL2008/Bremse_WQG7]
-        full_close:
-          joint_states: [0.08]
-          high: [EL1008/Bauteilabfrage_BG06]
+.. code-block:: yaml
+
+  io_gripper_controller:
+
+    ros__parameters:
+
+      use_action: true
+
+      open_close_joints: [gripper_clamp_jaw]
+
+      open:
+        joint_states: [0.0]
+        set_before_command:
+          high: [EL2008/Bremse_WQG7]
+          low: []
+        command:
+          high: [EL2008/Greiferteil_Oeffnen_WQG1]
+          low: [EL2008/Greiferteil_Schliessen_WQG2]
+        state:
+          high: [EL1008/Greifer_Geoeffnet_BG01]
           low: [EL1008/Greifer_Geschloschen_BG02]
-          set_after_command_high: [EL2008/Bremse_WQG7]
-          set_after_command_low: [EL2008/Bremse_WQG7]
-    
-    configurations: ["stichmass_125", "stichmass_250"]
-    configuration_joints: [gripper_gripper_distance_joint]
-
-    configuration_setup:
-      stichmass_125:
-        joint_states: [0.125]
-        command_high: [EL2008/Stichmass_125_WQG5]
-        command_low: [EL2008/Stichmass_250_WQG6]
-        state_high: [EL1008/Stichmass_125mm_BG03]
-        state_low: [EL1008/Stichmass_250mm_BG04]
-      stichmass_250:
-        joint_states: [0.250]
-        command_high: [EL2008/Stichmass_250_WQG6]
-        command_low: [EL2008/Stichmass_125_WQG5]
-        state_high: [EL1008/Stichmass_250mm_BG04]
-        state_low: [EL1008/Stichmass_125mm_BG03]
-    
-    gripper_specific_sensors: ["hohenabfrage", "bauteilabfrage"]
-    sensors_interfaces:
-      hohenabfrage:
-        input: "EL1008/Hohenabfrage_BG5"
-      bauteilabfrage:
-        input: "EL1008/Bauteilabfrage_BG06"
+        set_after_command:
+          high: []
+          low: [EL2008/Bremse_WQG7]
+
+      possible_closed_states: ['empty_close', 'full_close']
+
+      close:
+        set_before_command:
+          high: [EL2008/Bremse_WQG7]
+          low: [EL2008/Greiferteil_Oeffnen_WQG1]
+        command:
+          high: [EL2008/Greiferteil_Schliessen_WQG2]
+          low: [EL2008/Greiferteil_Oeffnen_WQG1]
+        state:
+          empty_close:
+            joint_states: [0.08]
+            high: [EL1008/Greifer_Geschloschen_BG02]
+            low: [EL1008/Bauteilabfrage_BG06]
+            set_after_command_high: [EL2008/Bremse_WQG7]
+            set_after_command_low: [EL2008/Bremse_WQG7]
+          full_close:
+            joint_states: [0.08]
+            high: [EL1008/Bauteilabfrage_BG06]
+            low: [EL1008/Greifer_Geschloschen_BG02]
+            set_after_command_high: [EL2008/Bremse_WQG7]
+            set_after_command_low: [EL2008/Bremse_WQG7]
+
+      configurations: ["stichmass_125", "stichmass_250"]
+      configuration_joints: [gripper_gripper_distance_joint]
+
+      configuration_setup:
+        stichmass_125:
+          joint_states: [0.125]
+          command_high: [EL2008/Stichmass_125_WQG5]
+          command_low: [EL2008/Stichmass_250_WQG6]
+          state_high: [EL1008/Stichmass_125mm_BG03]
+          state_low: [EL1008/Stichmass_250mm_BG04]
+        stichmass_250:
+          joint_states: [0.250]
+          command_high: [EL2008/Stichmass_250_WQG6]
+          command_low: [EL2008/Stichmass_125_WQG5]
+          state_high: [EL1008/Stichmass_250mm_BG04]
+          state_low: [EL1008/Stichmass_125mm_BG03]
+
+      gripper_specific_sensors: ["hohenabfrage", "bauteilabfrage"]
+      sensors_interfaces:
+        hohenabfrage:
+          input: "EL1008/Hohenabfrage_BG5"
+        bauteilabfrage:
+          input: "EL1008/Bauteilabfrage_BG06"