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Update the documention on writing new controllers
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saikishor committed Nov 20, 2023
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Expand Up @@ -42,7 +42,9 @@ The following is a step-by-step guide to create source files, basic tests, and c
5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``on_init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_.

6. (optional) Often, controllers accept lists of joint names and interface names as parameters.
6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``get_node_options``.

7. (Optional) Often, controllers accept lists of joint names and interface names as parameters.
If so, you can add two protected string vectors to store those values.

4. **Adding definitions into source file (.cpp)**
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