removed trailing-whitespace

Signed-off-by: Yaswanth <92177410 [email protected]>
gazebosim · azeey · Jan 8, 2024 · Dec 11, 2023 · Dec 11, 2023 · Dec 11, 2023
commit 49fc46692773bf350058c35431132ddb8b646664
@@ -1,27  1,26 @@
 
 \page jointcontrollers Joint Controllers
 
-Gazebo provides basically three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.
 Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.
-Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.
+Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.
+
-Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.
+Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.
+
 # 1) JointController
 
 - Joint controller which can be attached to a model with a reference to a single joint.
 - Currently, only the first axis of a joint can be actuated.
-  
 
 ### Modes of JointController
 
-1) Velocity mode 
 1) Velocity mode.
 
-2) Force mode 
 2) Force mode.
 
 ### Velocity mode:
-
 This mode lets the user control the desired joint velocity directly.
 
 ### Force mode:
 
 A user who wants to control joint velocity using a PID controller can use this mode.
 
-This mode let's the user explicitly set the values of PID gains and also bounds for velocity. 
 This mode lets the user explicitly set the values of PID gains and also bounds for velocity.
 
 Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
-Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
+**Note**: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
+
-Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
+**Note**: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
+
 
@@ -193,7  192,7 @@ The initial velocity is set to 1.0 rad/s.
 
 
 
-One can change the joint velocity by publishing a message on the topic ```/model/joint_controller_demo/joint/j1/cmd_vel``` or can change the topic name within the plugin 
 One can change the joint velocity by publishing a message on the topic ```/model/joint_controller_demo/joint/j1/cmd_vel``` or can change the topic name within the plugin.
 
 To change the topic name add following line before ```</plugin>``` tag in SDF file.
 
@@ -213,7  212,7 @@ gz topic -t "/topic_name" -m gz.msgs.Double -p "data: 10.0"
 
 - Force mode
 
-Same as velocity mode add the following line to the SDF file
 Same as velocity mode add the following line to the SDF file.
 
 ```xml
 <plugin
@@ -226,7  225,7 @@ Same as velocity mode add the following line to the SDF file
  </plugin>
 ```
 
-This would look almost the same as velocity mode if PID gains are tuned properly. 
 This would look almost the same as velocity mode if PID gains are tuned properly.
 
 Here the state of the joint is obtained using the Gazebo’s JointStatepublisher plugin. Please visit [here](https://gazebosim.org/api/gazebo/5.1/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html#:~:text=JointStatePublisher Class Reference) for more information.
-Here the state of the joint is obtained using the Gazebo’s JointStatepublisher plugin. Please visit [here](https://gazebosim.org/api/gazebo/5.1/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html#:~:text=JointStatePublisher Class Reference) for more information.
+Here the state of the joint is obtained using the Gazebo’s JointStatepublisher plugin. Please visit [here](https://gazebosim.org/api/gazebo/7.0/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html#:~:text=JointStatePublisher Class Reference) for more information.
+
-Here the state of the joint is obtained using the Gazebo’s JointStatepublisher plugin. Please visit [here](https://gazebosim.org/api/gazebo/5.1/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html#:~:text=JointStatePublisher Class Reference) for more information.
+Here the state of the joint is obtained using the Gazebo’s JointStatepublisher plugin. Please visit [here](https://gazebosim.org/api/gazebo/7.0/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html#:~:text=JointStatePublisher Class Reference) for more information.
+
 <p align="center">
@@ -303,7  302,7 @@ gz topic -e -t /world/default/model/joint_controller_demo/joint_state
 
 - Joint trajectory controller, which can be attached to a model with reference to one or more 1-axis joints to follow a trajectory.
 
-JointTrajectoryController lets’s user specify the required position, velocity, and effort with respect to time. For velocity and position, this controller uses a PID controller. 
 JointTrajectoryController lets’s user specify the required position, velocity, and effort with respect to time. For velocity and position, this controller uses a PID controller.
 
 A detailed description and related parameter of JointTrajectoryController can be found [here](https://gazebosim.org/api/gazebo/5.1/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html#:~:text=Detailed Description).
-A detailed description and related parameter of JointTrajectoryController can be found [here](https://gazebosim.org/api/gazebo/5.1/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html#:~:text=Detailed Description).
+A detailed description and related parameter of JointTrajectoryController can be found [here](https://gazebosim.org/api/gazebo/7.0/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html#:~:text=Detailed Description).
+
-A detailed description and related parameter of JointTrajectoryController can be found [here](https://gazebosim.org/api/gazebo/5.1/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html#:~:text=Detailed Description).
+A detailed description and related parameter of JointTrajectoryController can be found [here](https://gazebosim.org/api/gazebo/7.0/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html#:~:text=Detailed Description).
+
 
@@ -515,9  514,7 @@ let’s set up a new model for this example. A two-linked manipulator arm which
         </axis>
       </joint>
       <!-- Controller -->
-
     </model>
-
   </world>
 </sdf>
 ```