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Fix default topic name of JointStatePublisher #2115

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Merged
merged 2 commits into from
Sep 5, 2023
Merged

Fix default topic name of JointStatePublisher #2115

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f8604a2
Fix default topic name of JointStatePublisher
Bi0T1N Sep 1, 2023
4b16396
Fix line length
Bi0T1N Sep 2, 2023
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6 changes: 3 additions & 3 deletions src/systems/joint_state_publisher/JointStatePublisher.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,8 @@ namespace sim
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
/// \brief The JointStatePub system publishes state information for
/// a model. The published message type is gz::msgs::Model, and the
/// \brief The JointStatePublisher system publishes joint state information
/// for a model. The published message type is gz::msgs::Model, and the
/// publication topic is determined by the `<topic>` parameter.
///
/// By default the JointStatePublisher will publish all joints for
Expand All @@ -45,7 +45,7 @@ namespace systems
///
/// `<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".
/// "/world/<world_name>/model/<model_name>/joint_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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