Let sphinx add parameter description to documentation

ackermann_steering_controller/doc/userdoc.rst

@@ -15,6 +15,8 @@ For more details on controller's execution and interfaces check the :ref:`Steeri
 Parameters
 ,,,,,,,,,,,
 
-For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
+
+.. generate_parameter_library_details:: ../src/ackermann_steering_controller.yaml

bicycle_steering_controller/doc/userdoc.rst

@@ -16,6 +16,8 @@ For more details on controller's execution and interfaces check the :ref:`Steeri
 Parameters
 ,,,,,,,,,,,
 
-For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
+
+.. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml

doc/controllers_index.rst

@@ -48,6 +48,7 @@ Available Controllers
    Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
+   Gripper Controller <../gripper_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>

forward_command_controller/doc/userdoc.rst

@@ -15,3 +15,18 @@ Hardware interface type
 -----------------------
 
 This controller can be used for every type of command interface.
+
+Parameters
+------------
+
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
+forward_command_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. generate_parameter_library_details:: ../src/forward_command_controller_parameters.yaml
+
+multi_interface_forward_command_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. generate_parameter_library_details:: ../src/multi_interface_forward_command_controller_parameters.yaml

gripper_controllers/doc/userdoc.rst

@@ -0,0 +1,14 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gripper_controllers/doc/userdoc.rst
+
+.. _gripper_controllers_userdoc:
+
+Gripper Action Controller
+--------------------------------
+
+Controller for executing a gripper command action for simple single-dof grippers.
+
+Parameters
+^^^^^^^^^^^
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
+.. generate_parameter_library_details:: ../src/gripper_action_controller_parameters.yaml

imu_sensor_broadcaster/doc/userdoc.rst

@@ -11,10 +11,6 @@ The controller is a wrapper around ``IMUSensor`` semantic component (see ``contr
 
 Parameters
 ^^^^^^^^^^^
-frame_id (mandatory)
-  Frame in which the output message will be published.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
-sensor_name (mandatory)
-  Defines sensor name used as prefix for its interfaces.
-  Interface names are: <sensor_name>/orientation.x, ..., <sensor_name>/angular_velocity.x, ...,
-  <sensor_name>/linear_acceleration.x.
+.. generate_parameter_library_details:: ../src/imu_sensor_broadcaster_parameters.yaml

imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml

@@ -2,7 +2,9 @@ imu_sensor_broadcaster:
   sensor_name: {
     type: string,
     default_value: "",
-    description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.",
+    description: "Defines sensor name used as prefix for its interfaces.
+    Interface names are: ``<sensor_name>/orientation.x, ..., <sensor_name>/angular_velocity.x, ...,
+    <sensor_name>/linear_acceleration.x.``",
   }
   frame_id: {
     type: string,

steering_controllers_library/doc/userdoc.rst

@@ -86,7 +86,8 @@ Publishers
 
 Parameters
 ,,,,,,,,,,,
-
-For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
+
+.. generate_parameter_library_details:: ../src/steering_controllers_library.yaml

tricycle_steering_controller/doc/userdoc.rst

@@ -15,6 +15,8 @@ For more details on controller's execution and interfaces check the :ref:`Steeri
 Parameters
 ,,,,,,,,,,,
 
-For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
+
+.. generate_parameter_library_details:: ../src/tricycle_steering_controller.yaml