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Merged
merged 4 commits into from
Nov 27, 2025
Merged

Improve documentation for composeMultiArrayMessage to clarify usage #3543

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7401bfd
Improve documentation for composeMultiArrayMessage to clarify usage
hihry Aug 1, 2025
719c29a
Move detailed docstring from cpp to header file
hihry Aug 2, 2025
c8e504f
Merge branch 'main' into add/documentation
hihry Oct 11, 2025
2ad05d6
Merge branch 'main' into add/documentation
nbbrooks Nov 27, 2025
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12 changes: 11 additions & 1 deletion moveit_ros/moveit_servo/src/utils/common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
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