From 1d4b2d081293186e23bb2d3f31ac0f5ef1de4ff1 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Mon, 9 Dec 2024 19:27:36 +0100 Subject: [PATCH] add more documentation about the topics --- doc/debugging.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/doc/debugging.rst b/doc/debugging.rst index 8df60d67c3..9e09083a3c 100644 --- a/doc/debugging.rst +++ b/doc/debugging.rst @@ -94,6 +94,11 @@ All the registered variables are published over 3 topics: ``~/introspection_data The topics ``~/introspection_data/full`` and ``~/introspection_data/values`` are always published on every update cycle asynchronously, provided that there is at least one Subscriber to these topics. +The topic ``~/introspection_data/full`` can be used to integrate with your custom visualization tools or to track the variables from the command line. The topic ``~/introspection_data/names`` and ``~/introspection_data/values`` are to be used for visualization tools like `PlotJuggler `_ to visualize the data. + +.. note:: + If you have a high frequency of data, it is recommended to use the ``~/introspection_data/names`` and ``~/introspection_data/values`` topic. So, that the data transferred and stored is minimized. + How to introspect internal variables of controllers and hardware components ============================================================================