From ca38c06f712663449ddf1372234d74a983b7d5f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Fri, 29 Sep 2023 20:07:47 +0200
Subject: [PATCH] Improve docs (#785)

---
 ackermann_steering_controller/doc/userdoc.rst        |  2 ++
 bicycle_steering_controller/doc/userdoc.rst          |  2 ++
 .../src/steering_controllers_library.yaml            | 12 ++++++------
 tricycle_steering_controller/doc/userdoc.rst         |  2 ++
 4 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ackermann_steering_controller/doc/userdoc.rst b/ackermann_steering_controller/doc/userdoc.rst
index c4ae35e5b0..daf4561861 100644
--- a/ackermann_steering_controller/doc/userdoc.rst
+++ b/ackermann_steering_controller/doc/userdoc.rst
@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/ackermann_steering_controller.yaml
diff --git a/bicycle_steering_controller/doc/userdoc.rst b/bicycle_steering_controller/doc/userdoc.rst
index a720ff887d..6fccaf7b73 100644
--- a/bicycle_steering_controller/doc/userdoc.rst
+++ b/bicycle_steering_controller/doc/userdoc.rst
@@ -20,4 +20,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml
diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
index 86acb01dae..8acdfb1448 100644
--- a/steering_controllers_library/src/steering_controllers_library.yaml
+++ b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -59,7 +59,7 @@ steering_controllers_library:
   open_loop: {
     type: bool,
     default_value: false,
-    description: "bool parameter decides if open oop or not (feedback).",
+    description: "Choose if open-loop or not (feedback) is used for odometry calculation.",
     read_only: false,
   }
 
@@ -87,7 +87,7 @@ steering_controllers_library:
   enable_odom_tf: {
     type: bool,
     default_value: true,
-    description: "Publishing to tf is enabled or disabled ?.",
+    description: "Publishing to tf is enabled or disabled?",
     read_only: false,
   }
 
@@ -108,15 +108,15 @@ steering_controllers_library:
   position_feedback: {
     type: bool,
     default_value: false,
-    description: "Choice of feedback type, if position_feedback is false then HW_IF_VELOCITY is taken as interface type, if
-    position_feedback is true then HW_IF_POSITION is taken as interface type",
+    description: "Choice of feedback type, if position_feedback is false then ``HW_IF_VELOCITY`` is taken as interface type, if
+    position_feedback is true then ``HW_IF_POSITION`` is taken as interface type",
     read_only: false,
   }
 
   use_stamped_vel: {
     type: bool,
     default_value: false,
-    description: "Choice of vel type, if use_stamped_vel is false then geometry_msgs::msg::Twist is taken as vel msg type, if
-    use_stamped_vel is true then geometry_msgs::msg::TwistStamped is taken as vel msg type",
+    description: "Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
+    use_stamped_vel is true then ``geometry_msgs::msg::TwistStamped`` is taken as vel msg type",
     read_only: false,
   }
diff --git a/tricycle_steering_controller/doc/userdoc.rst b/tricycle_steering_controller/doc/userdoc.rst
index d76f489745..618d7f04a7 100644
--- a/tricycle_steering_controller/doc/userdoc.rst
+++ b/tricycle_steering_controller/doc/userdoc.rst
@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/tricycle_steering_controller.yaml