Use parameters_context.yaml for common documentation of the parameters

ros-controls · Jan 19, 2025 · 27eea3e · 27eea3e
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diff --git a/controller_manager/doc/parameters_context.yaml b/controller_manager/doc/parameters_context.yaml
@@ -18,4 +18,10 @@ 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.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.
+  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 to execute its update cycle.
+
+diagnostics.threshold.hardware_components.periodicity: |
+  The ``periodicity`` diagnostics will be published only for the asynchronous hardware components, because any affect to the synchronous hardware components will be reflected directly in the controller manager's periodicity.
+
+diagnostics.threshold.hardware_components.execution_time.mean_error: |
+  The ``execution_time`` diagnostics will be published for all hardware components. The ``mean_error`` for a synchronous hardware component will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous hardware component will be computed against its desired read/write period, as the hardware component can take a maximum of the desired period to execute the read/write cycle.
diff --git a/controller_manager/src/controller_manager_parameters.yaml b/controller_manager/src/controller_manager_parameters.yaml
@@ -140,15 +140,15 @@ controller_manager:
             warn: {
               type: double,
               default_value: 5.0,
-              description: "The warning threshold for the mean error of the hardware component's read/write loop. If the mean error exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous hardware component, because any affect to the synchronous hardware components will be reflected directly in the controller manager's periodicity.",
+              description: "The warning threshold for the mean error of the hardware component's read/write 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 hardware component's read/write loop. If the mean error exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous hardware component, because any affect to the synchronous hardware components will be reflected directly in the controller manager's periodicity.",
+              description: "The error threshold for the mean error of the hardware component's read/write loop. If the mean error exceeds this threshold, an error diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
@@ -157,15 +157,15 @@ controller_manager:
             warn: {
               type: double,
               default_value: 5.0,
-              description: "The warning threshold for the standard deviation of the hardware component's read/write loop. If the standard deviation exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous hardware component, because any affect to the synchronous hardware components will be reflected directly in the controller manager's periodicity.",
+              description: "The warning threshold for the standard deviation of the hardware component's read/write 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 hardware component's read/write loop. If the standard deviation exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous hardware component, because any affect to the synchronous hardware components will be reflected directly in the controller manager's periodicity.",
+              description: "The error threshold for the standard deviation of the hardware component's read/write loop. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }
@@ -175,15 +175,15 @@ controller_manager:
             warn: {
               type: double,
               default_value: 1000.0,
-              description: "The warning threshold for the mean error of the hardware component's read/write cycle execution time in microseconds. If the mean error exceeds this threshold, a warning diagnostic will be published. The ``mean_error`` for a synchronous hardware component will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous hardware component will be computed against its desired read/write period, as the hardware component can take a maximum of the desired period cycle to execute its cycle",
+              description: "The warning threshold for the mean error of the hardware component's read/write 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 hardware component's read/write cycle execution time in microseconds. If the mean error exceeds this threshold, a error diagnostic will be published. The ``mean_error`` for a synchronous hardware component will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous hardware component will be computed against its desired read/write period, as the hardware component can take a maximum of the desired period cycle to execute its cycle",
+              description: "The error threshold for the mean error of the hardware component's read/write cycle execution time in microseconds. If the mean error exceeds this threshold, a error diagnostic will be published.",
               validation: {
                 gt<>: 0.0,
               }