Added usuage of rqt_joint_trajectory_controller in documentation of e… (#734)

Author: AdityaPawar162

example_1/doc/userdoc.rst

@@ -428,6 +428,51 @@ Tutorial steps
 
    You can adjust the goals in `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__.
 
+7. Alternatively, you can use the :ref:`rqt_joint_trajectory_controller <rqt_joint_trajectory_controller_userdoc>` GUI to control the robot. First, load and switch to the Joint Trajectory Controller with a single command:
+
+   .. tabs::
+
+      .. group-tab:: Local
+
+        .. code-block:: shell
+
+          ros2 control load_controller joint_trajectory_position_controller $(ros2 pkg prefix ros2_control_demo_example_1 --share)/config/rrbot_jtc.yaml --set-state inactive && ros2 control switch_controllers --activate joint_trajectory_position_controller --deactivate forward_position_controller
+
+      .. group-tab:: Docker
+
+        (from the docker terminal, see above)
+
+        .. code-block:: shell
+
+          ros2 control load_controller joint_trajectory_position_controller --set-state inactive && ros2 control switch_controllers --activate joint_trajectory_position_controller --deactivate forward_position_controller
+
+   Then, launch the rqt_joint_trajectory_controller GUI:
+
+   .. tabs::
+
+      .. group-tab:: Local
+
+        .. code-block:: shell
+
+          ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller
+
+      .. group-tab:: Docker
+
+        (from the docker terminal, see above)
+
+        .. code-block:: shell
+
+          ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller
+
+   This will open a graphical interface that allows you to:
+
+   - Select the controller from a dropdown menu
+   - Set target positions for each joint using sliders
+   - Control the execution time of trajectories
+   - Send the trajectory commands to the robot
+
+   The rqt_joint_trajectory_controller provides an intuitive way to test different joint positions without having to manually construct trajectory messages.
+
 Files used for this demos
 -------------------------
 

example_1/package.xml

@@ -32,6 +32,7 @@
   <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>ros2launch</exec_depend>
+  <exec_depend>rqt_joint_trajectory_controller</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>