Fix merge conflicts

joint_trajectory_controller/doc/parameters.rst

@@ -18,143 +18,5 @@ List of parameters
 An example parameter file
 =========================
 
-<<<<<<< HEAD
-  Values: position (mandatory) [velocity, [acceleration]].
-  Acceleration interface can only be used in combination with position and velocity.
-
-state_publish_rate (double)
-  Publish-rate of the controller's "state" topic.
-
-  Default: 50.0
-
-action_monitor_rate (double)
-  Rate to monitor status changes when the controller is executing action (control_msgs::action::FollowJointTrajectory).
-
-  Default: 20.0
-
-allow_partial_joints_goal (boolean)
-  Allow joint goals defining trajectory for only some joints.
-
-  Default: false
-
-allow_integration_in_goal_trajectories (boolean)
-  Allow integration in goal trajectories to accept goals without position or velocity specified
-
-  Default: false
-
-interpolation_method (string)
-  The type of interpolation to use, if any. Can be "splines" or "none".
-
-  Default: splines
-
-open_loop_control (boolean)
-  Use controller in open-loop control mode:
-
-  * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation.
-  * It deactivates the feedback control, see the ``gains`` structure.
-
-  This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
-
-  .. Note::
-     If this flag is set, the controller tries to read the values from the command interfaces on activation.
-     If they have real numeric values, those will be used instead of state interfaces.
-     Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits<double>::quiet_NaN()``) or state values when the hardware is started.
-
-  Default: false
-
-start_with_holding (bool)
-  If true, start with holding position after activation. Otherwise, no command will be sent until
-  the first trajectory is received.
-
-  Default: true
-
-allow_nonzero_velocity_at_trajectory_end (boolean)
-  If false, the last velocity point has to be zero or the goal will be rejected.
-
-  Default: true
-
-cmd_timeout (double)
-  Timeout after which the input command is considered stale.
-  Timeout is counted from the end of the trajectory (the last point).
-  ``cmd_timeout`` must be greater than ``constraints.goal_time``,
-  otherwise ignored.
-
-  If zero, timeout is deactivated"
-
-  Default: 0.0
-
-constraints (structure)
-  Default values for tolerances if no explicit values are states in JointTrajectory message.
-
-constraints.stopped_velocity_tolerance (double)
-  Default value for end velocity deviation.
-
-  Default: 0.01
-
-constraints.goal_time (double)
-  Maximally allowed tolerance for not reaching the end of the trajectory in a predefined time.
-  If set to zero, the controller will wait a potentially infinite amount of time.
-
-  Default: 0.0 (not checked)
-
-constraints.<joint_name>.trajectory (double)
-  Maximally allowed deviation from the target trajectory for a given joint.
-
-  Default: 0.0 (tolerance is not enforced)
-
-constraints.<joint_name>.goal (double)
-  Maximally allowed deviation from the goal (end of the trajectory) for a given joint.
-
-  Default: 0.0 (tolerance is not enforced)
-
-gains (structure)
-  Only relevant, if ``open_loop_control`` is not set.
-
-  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 ``angle_wraparound`` below),
-  the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively.
-
-gains.<joint_name>.p (double)
-  Proportional gain :math:`k_p` for PID
-
-  Default: 0.0
-
-gains.<joint_name>.i (double)
-  Integral gain :math:`k_i` for PID
-
-  Default: 0.0
-
-gains.<joint_name>.d (double)
-  Derivative gain :math:`k_d` for PID
-
-  Default: 0.0
-
-gains.<joint_name>.i_clamp (double)
-  Integral clamp. Symmetrical in both positive and negative direction.
-
-  Default: 0.0
-
-gains.<joint_name>.ff_velocity_scale (double)
-  Feed-forward scaling :math:`k_{ff}` of velocity
-
-  Default: 0.0
-
-gains.<joint_name>.angle_wraparound (bool)
-  For joints that wrap around (without end stop, ie. are continuous),
-  where the shortest rotation to the target position is the desired motion.
-  If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
-  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.
-
-
-  Default: false
-=======
 .. generate_parameter_library_default::
   ../src/joint_trajectory_controller_parameters.yaml
->>>>>>> f375c69 (Let sphinx add parameter description with nested structures to documentation (#652))