The broadcaster reads all state interfaces and reports them on /joint_states and /dynamic_joint_states.
Broadcasters are not real controllers, and therefore take no commands.
By default, all available joint state interfaces are used, unless configured otherwise. In the latter case, resulting interfaces is defined by a "matrix" of interfaces defined by the cross-product of the joints and interfaces parameters. If some requested interfaces are missing, the controller will print a warning about that, but work for other interfaces. If none of the requested interface are not defined, the controller returns error on activation.
This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.