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Add information about <topic> system paramter in JointStatePublisher #1671

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Aug 29, 2022
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Add information about <topic> system paramter in JointStatePublisher #1671

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5 changes: 4 additions & 1 deletion src/systems/joint_state_publisher/JointStatePublisher.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -35,14 +35,17 @@ namespace systems
{
/// \brief The JointStatePub system publishes state information for
/// a model. The published message type is ignition::msgs::Model, and the
/// publication topic is "/world/<world_name>/model/<model_name>/state".
/// publication topic is determined by the `<topic>` parameter.
///
/// By default the JointStatePublisher will publish all joints for
/// a model. Use the `<joint_name>` system parameter, described below, to
/// control which joints are published.
///
/// # System Parameters
///
/// `<topic>`: Name of the topic to publish to. This parameter is optional,
/// and if not provided, the joint state will be published to
/// "/world/<world_name>/model/<model_name>/state".
/// `<joint_name>`: Name of a joint to publish. This parameter can be
/// specified multiple times, and is optional. All joints in a model will
/// be published if joint names are not specified.
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