Create doc file for chained controllers

[destogl]

No description provided.

[codecov-commenter]

Codecov Report

Merging #985 (c2e5006) into master (925f5f3) will decrease coverage by 1.93%.
The diff coverage is 35.61%.

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@@            Coverage Diff             @@
##           master     #985      +/-   ##
==========================================
- Coverage   34.61%   32.69%   -1.93%     
==========================================
  Files          52       91      +39     
  Lines        2981     9551    +6570     
  Branches     1855     6432    +4577     
==========================================
+ Hits         1032     3123    +2091     
- Misses        310      704     +394     
- Partials     1639     5724    +4085     

Flag	Coverage Δ
unittests	32.69% <35.61%> (-1.93%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
controller_manager/src/controller_manager.cpp	38.27% <ø> (-1.44%)	⬇️
controller_manager/src/ros2_control_node.cpp	0.00% <0.00%> (ø)
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/sensor.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp	49.91% <ø> (-3.72%)	⬇️
hardware_interface/src/sensor.cpp	50.52% <ø> (ø)
hardware_interface/src/system.cpp	55.45% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp	9.14% <ø> (ø)
...dware_interface/test/test_component_interfaces.cpp	32.44% <ø> (+4.25%)	⬆️
... and 68 more

... and 19 files with indirect coverage changes

[bmagyar]

Are you happy with me merging this? People want some docs, this is better than nothing!

[christophfroehlich]

I hope this gets merged soon ;)

At least a proper rst markup + pictures and link the file to the docs is needed. (Silently advertising ros-controls/control.ros.org#125).
Or: Push this file as .md file where the suggested changes are accepted, and I could do the translation to rst then.

[bmagyar]

@christophfroehlich could we try the docs on this PR?

[christophfroehlich]

this is no valid rst syntax. i'll make an PR against this PR with the changes this weekend

[bmagyar]

Ah yeah I'm aware of that :D was just wondering how far it is. But agree that this should be merged asap

[christophfroehlich]

I refactored it with PR #1068

[christophfroehlich]

@bmagyar this hasn't been backported to humble, which caused the conflict with #1106. The image and the link in doc/index.rst is missing, see this error.

[christophfroehlich]

@destogl can this be backported to humble to fix the build error with the docs for humble?

[destogl]

We have to fix this. The docs is very wrong and misleading in few places...