[WIP] Added comments to ROS2 interfaces and default Response to Services

ros2_interfaces_ws/src/yarp_control_msgs/msg/Position.msg

@@ -1,3 +1,7 @@
+# Message used to send position commands to one or multiple joints
+# names: it can contain the names of the joints to send the position command to. If left empty, a position value for all the joints available must be provided
+# positions: it must contain a position value for each name listed in the names vector or for every joint if the names vector is left empty
+# ref_velocities: it can contain the velocity value for a specific position command. It must contain the same number of entries as the positions array or be empty. If empty the already set speed values will to be used
 string[] names
 float64[] positions
 float64[] ref_velocities

ros2_interfaces_ws/src/yarp_control_msgs/msg/PositionDirect.msg

@@ -1,2 +1,5 @@
+# Message used to send position direct commands to one or multiple joints
+# names: it can contain the names of the joints to send the position command to. If left empty, a position value for all the joints available must be provided
+# positions: it must contain a position value for each name listed in the names vector or for every joint if the names vector is left empty
 string[] names
 float64[] positions

ros2_interfaces_ws/src/yarp_control_msgs/msg/Velocity.msg

@@ -1,3 +1,7 @@
+# Message used to send velocity commands to one or multiple joints
+# names: it can contain the names of the joints to send the velocity command to. If left empty, a velocity value for all the joints available must be provided
+# velocities: it must contain a velocity value for each name listed in the names vector or for every joint if the names vector is left empty
+# ref_accelerations: it can contain the acceleration value for each velocities vector entry. It must contain the same number of elements as the velocity array or be empty. If empty the already set acceleration values will to be used
 string[] names
 float64[] velocities
-float64[] ref_accelerations
+float64[] ref_accelerations

ros2_interfaces_ws/src/yarp_control_msgs/srv/GetAvailableControlModes.srv

@@ -1,5 +1,10 @@
+# Service used to retrieve the available control modes
+# only_implemented: if True, only the control mode that are currently implemented in the device code will be returned
 bool only_implemented
 ---
+# modes: contains all the control modes that can be manually set (or just the implemented ones)
+# response: a brief string used to signal the state of the result of the request
+# opt_descr: An optional human readable description of the result of the request.
 string[] modes
-string response
-string opt_descr
+string response "NOT_SPECIFIED"
+string opt_descr

ros2_interfaces_ws/src/yarp_control_msgs/srv/GetControlModes.srv

@@ -1,5 +1,10 @@
+# Service to get the currently set control modes for a set of joints
+# names: it can contain the names of the joints from which the control mode has to be retrieved. If left empty, the control modes of all the available joints will be returned
 string[] names
 ---
+# modes: it will cotain the control modes for the joints specified in "names" or for all them if "names" is empty
+# response: a brief string used to signal the state of the result of the request
+# opt_descr: An optional human readable description of the result of the request
 string[] modes
-string response
-string opt_descr
+string response "NOT_SPECIFIED"
+string opt_descr

ros2_interfaces_ws/src/yarp_control_msgs/srv/GetJointsNames.srv

@@ -1,5 +1,10 @@
+# Service to be used to retrieve the names of a set of joints
+# joints_indexes: it contains the indexes of the joints the user wants to get the names of. If left empty, the names of all the available joints will be returned
 int32[] joint_indexes
 ---
+# names: it will cotain the names for the joints specified in "indexes" or for all them if "indexes" is empty
+# response: a brief string used to signal the state of the result of the request
+# opt_descr: An optional human readable description of the result of the request
 string[] names
-string response
-string opt_descr
+string response "NOT_SPECIFIED"
+string opt_descr

ros2_interfaces_ws/src/yarp_control_msgs/srv/SetControlModes.srv

@@ -1,5 +1,10 @@
+# Service used to set the control mode for a set of joints
+# names: it can contain the names of the joints for which the control mode has to be set. If left empty, a control mode for all the available joints has to be specified
+# modes: it contains the new control modes to set for the joints specified in "names". If "names" is empty, a control mode value for all the available joints has to be specified
 string[] names
 string[] modes
 ---
-string response
-string opt_descr
+# response: a brief string used to signal the state of the result of the request
+# opt_descr: An optional human readable description of the result of the request
+string response "NOT_SPECIFIED"
+string opt_descr