Fix the parameters_context for the controllers diagnostics

ros-controls · Jan 19, 2025 · 1d752a2 · 1d752a2
1 parent 9b1a4c9
commit 1d752a2
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/controller_manager/doc/parameters_context.yaml b/controller_manager/doc/parameters_context.yaml
@@ -17,5 +17,5 @@ hardware_components_initial_state: |
 diagnostics.threshold.controllers.periodicity: |
   The ``periodicity`` diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.
 
-diagnostics.threshold.controllers.execution_time: |
-  The ``execution_time`` diagnostics will be published for all controllers. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle.
+diagnostics.threshold.controllers.execution_time.mean_error: |
+  The ``execution_time`` diagnostics will be published for all controllers. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute its update cycle.
diff --git a/controller_manager/src/controller_manager_parameters.yaml b/controller_manager/src/controller_manager_parameters.yaml
@@ -69,15 +69,15 @@ controller_manager:
             warn: {
               type: double,
               default_value: 5.0,
-              description: "The warning threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
+              description: "The warning threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, a warning diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
             }
             error: {
               type: double,
               default_value: 10.0,
-              description: "The error threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
+              description: "The error threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, an error diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
@@ -86,15 +86,15 @@ controller_manager:
             warn: {
               type: double,
               default_value: 5.0,
-              description: "The warning threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
+              description: "The warning threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, a warning diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
             }
             error: {
               type: double,
               default_value: 10.0,
-              description: "The error threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
+              description: "The error threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
@@ -104,15 +104,15 @@ controller_manager:
             warn: {
               type: double,
               default_value: 1000.0,
-              description: "The warning threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, a warning diagnostic will be published. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle",
+              description: "The warning threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, a warning diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
             }
             error: {
               type: double,
               default_value: 2000.0,
-              description: "The error threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, an error diagnostic will be published. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle",
+              description: "The error threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, an error diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }