Fix the docs

Author: christophfroehlich

joint_trajectory_controller/doc/parameters.rst

@@ -11,12 +11,24 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 List of parameters
 =========================
 
+joint_trajectory_controller
+---------------------------
+
 .. generate_parameter_library_details::
   ../src/joint_trajectory_controller_parameters.yaml
   parameters_context.yaml
 
+pid_trajectory_plugin
+-----------------------------------
+
+.. generate_parameter_library_details::
+  ../../joint_trajectory_controller_plugins/src/pid_trajectory_plugin_parameters.yaml
+  ../../joint_trajectory_controller_plugins/doc/parameters_context.yaml
+
 An example parameter file
 =========================
 
-.. generate_parameter_library_default::
-  ../src/joint_trajectory_controller_parameters.yaml
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_trajectory_controller/test/test_joint_trajectory_controller_params.yaml>`_:
+
+.. literalinclude:: ../test/test_joint_trajectory_controller_params.yaml
+   :language: yaml

joint_trajectory_controller/doc/parameters_context.yaml

@@ -1,18 +1,2 @@
 constraints:
     Default values for tolerances if no explicit values are set in the ``JointTrajectory`` message.
-
-gains: |
-  If ``velocity`` is the only command interface for all joints or an ``effort`` command interface is configured, PID controllers are used for every joint.
-  This structure contains the controller gains for every joint with the control law
-
-  .. math:: u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v)
-
-  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see below),
-  the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively.
-
-  If the joint is of continuous type, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`,
-  i.e., the shortest rotation to the target position is the desired motion.
-  Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
-  position :math:`s` from the state interface.
-
-  If you want to turn off the PIDs (open loop control), set the feedback gains to zero.

joint_trajectory_controller_plugins/doc/parameters_context.yaml

@@ -0,0 +1,15 @@
+gains: |
+  If ``velocity`` is the only command interface for all joints or an ``effort`` command interface is configured, PID controllers are used for every joint.
+  This structure contains the controller gains for every joint with the control law
+
+  .. math:: u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v)
+
+  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see below),
+  the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively.
+
+  If the joint is of continuous type, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`,
+  i.e., the shortest rotation to the target position is the desired motion.
+  Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
+  position :math:`s` from the state interface.
+
+  If you want to turn off the PIDs (open loop control), set the feedback gains to zero.