Document parameters from YAML file required by generate_parameter_library

[mateusmenezes95]

This proposal outlines the creation of a feature to parse the .yaml file required by the generate_parameter_library (if the package uses it) and generate a page with a table or bullet points that describe the parameters necessary for the package. The generate_parameter_library sets specific requirements for the fields in the .yaml file, making it easier to translate to a .rst file with parameter descriptions, including details such as description, default_value, and values validation.

[rkent]

Can you point to any examples where someone has take this yaml file, and generated such a page?

Can you point to a few packages that are actually using this file?

[mateusmenezes95]

Hello @rkent , I don't have an example now. I was documenting a package that I am working on and thought that this feature would be very valuable. About the packages that use the generate_parameter_library, almost all (if not all) ros2_controllers use it. Here is the file used by the diff_drive_controller.

[rkent]

I did a quick scan of rolling, found 'generate_parameter_library(' in CMakeLists.txt for these packages:

generate_parameter_library used in <ur_controllers>
generate_parameter_library used in <control_toolbox>
generate_parameter_library used in <moveit_servo>
generate_parameter_library used in <moveit_planners_stomp>
generate_parameter_library used in <pilz_industrial_motion_planner>
generate_parameter_library used in <moveit_resources_prbt_ikfast_manipulator_plugin>
generate_parameter_library used in <pick_ik>
generate_parameter_library used in <tricycle_steering_controller>
generate_parameter_library used in <gripper_controllers>
generate_parameter_library used in <range_sensor_broadcaster>
generate_parameter_library used in <pid_controller>
generate_parameter_library used in <tricycle_controller>
generate_parameter_library used in <diff_drive_controller>
generate_parameter_library used in <force_torque_sensor_broadcaster>
generate_parameter_library used in <joint_trajectory_controller>
generate_parameter_library used in <imu_sensor_broadcaster>
generate_parameter_library used in <admittance_controller>
generate_parameter_library used in <steering_controllers_library>
generate_parameter_library used in <parallel_gripper_controller>
generate_parameter_library used in <joint_state_broadcaster>
generate_parameter_library used in <forward_command_controller>
generate_parameter_library used in <bicycle_steering_controller>
generate_parameter_library used in <ackermann_steering_controller>
generate_parameter_library used in <trac_ik_kinematics_plugin>
generate_parameter_library used in <generate_parameter_library_example>

It would not be hard to located generate_parameter_library in CMakeLists.txt, extract the name and parameters, then display the raw text of the yaml file (with a little bit of text highlighting). Not saying I will do it, but is not a big job maybe a few hours of work. Don't know if the powers-that-be would support that or not.

[mateusmenezes95]

Looks like they implemented this feature there. In this case it would only be up to integration