From 7401bfd3538eba13cee78870d77459aa0c780817 Mon Sep 17 00:00:00 2001
From: hihry <work.himanshu.r.v@gmail.com>
Date: Fri, 1 Aug 2025 22:07:06 +0530
Subject: [PATCH 1/2] Improve documentation for composeMultiArrayMessage to
 clarify usage

---
 moveit_ros/moveit_servo/src/utils/common.cpp | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
index 7ce13c1805..b1d31efbb3 100644
--- a/moveit_ros/moveit_servo/src/utils/common.cpp
+++ b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -254,7 +254,17 @@ void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicS
   // add next command
   joint_cmd_rolling_window.push_back(next_joint_state);
 }
-
+/**
+ * @brief Create a Float64MultiArray message from the given joint state.
+ *
+ * This function converts the joint state into a std_msgs::msg::Float64MultiArray message
+ * based on the configuration in the Servo parameters. It supports both position and
+ * velocity command modes, depending on the controller configuration.
+ *
+ * @param servo_params Configuration parameters used by Servo (e.g., command type: position or velocity).
+ * @param joint_state The current joint state to be converted into a Float64MultiArray message.
+ * @return The resulting Float64MultiArray message containing joint commands.
+ */
 std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
                                                           const KinematicState& joint_state)
 {

From 719c29af794ded01f3a037820ad7656817e81d63 Mon Sep 17 00:00:00 2001
From: hihry <work.himanshu.r.v@gmail.com>
Date: Sat, 2 Aug 2025 20:22:05 +0530
Subject: [PATCH 2/2] Move detailed docstring from cpp to header file

---
 .../include/moveit_servo/utils/common.hpp          | 14 ++++++++++----
 moveit_ros/moveit_servo/src/utils/common.cpp       | 12 +-----------
 2 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp b/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp
index 1da9fd7e5e..84ea373beb 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp
+++ b/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp
@@ -135,11 +135,17 @@ void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicS
                          double max_expected_latency, const rclcpp::Time& cur_time);
 
 /**
- * \brief Create a Float64MultiArray message from given joint state
- * @param servo_params The configuration used by servo, required for selecting position vs velocity.
- * @param joint_state The joint state to be added into the Float64MultiArray.
- * @return The Float64MultiArray message.
+ * \brief Create a Float64MultiArray message from the given joint state.
+ *
+ * This function converts the joint state into a std_msgs::msg::Float64MultiArray message
+ * based on the configuration in the Servo parameters. It supports both position and
+ * velocity command modes, depending on the controller configuration.
+ *
+ * @param servo_params Configuration parameters used by Servo (e.g., command type: position or velocity).
+ * @param joint_state The current joint state to be converted into a Float64MultiArray message.
+ * @return The resulting Float64MultiArray message containing joint commands.
  */
+
 std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
                                                           const KinematicState& joint_state);
 
diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
index b1d31efbb3..7ce13c1805 100644
--- a/moveit_ros/moveit_servo/src/utils/common.cpp
+++ b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -254,17 +254,7 @@ void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicS
   // add next command
   joint_cmd_rolling_window.push_back(next_joint_state);
 }
-/**
- * @brief Create a Float64MultiArray message from the given joint state.
- *
- * This function converts the joint state into a std_msgs::msg::Float64MultiArray message
- * based on the configuration in the Servo parameters. It supports both position and
- * velocity command modes, depending on the controller configuration.
- *
- * @param servo_params Configuration parameters used by Servo (e.g., command type: position or velocity).
- * @param joint_state The current joint state to be converted into a Float64MultiArray message.
- * @return The resulting Float64MultiArray message containing joint commands.
- */
+
 std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
                                                           const KinematicState& joint_state)
 {