Enhanced documentation for composeMultiArrayMessage function

[attu0]

Description
I have enhanced the documentation for the composeMultiArrayMessage function in common.cpp within the moveit_servo module.

Added a detailed Doxygen-compatible comment block for the function to clarify its purpose, parameters, return value, and usage.
The changes address the issue related to the lack of documentation for handling controllers that accept std_msgs::msg::Float64MultiArray messages.
This update improves developer experience and aligns with MoveIt 2's goal of becoming an industry-standard robotics framework.

Related Issue: #3243

[AndyZe]

Looks great to me, just one little nitpick. I've been meaning to write some documentation myself for a while now

[sea-bass]

Thanks for this! There is already a docstring in the common.hpp file (which is where docstrings go instead of the .cpp files, unless the function is not in the header at all):

moveit2/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp

Lines 137 to 144 in 524ca4f

	/**
	* \brief Create a Float64MultiArray message from given joint state
	* @param servo_params The configuration used by servo, required for selecting position vs velocity.
	* @param joint_state The joint state to be added into the Float64MultiArray.
	* @return The Float64MultiArray message.
	*/
	std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
	const KinematicState& joint_state);

Could you please take these improvements and combine them with the existing one?

[sea-bass]

these two sentences virtually say the same thing -- you probably can combine these into just a single line.

[sea-bass]

It may not be obvious to most people that controller in this case is actually a ROS 2 publisher. Maybe call this variable controller_pub or something like that, or add a brief sentence explaining that the code snippet is publishing to a controller topic?

Also looking at other examples, it appears you may need to indent what is inside the @code / @endcode?

For example:

moveit2/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp

Lines 607 to 610 in 524ca4f

	* @code
	* planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
	* moveit::core::RobotModelConstPtr model = ls->getRobotModel();
	* @endcode

Which renders to: https://moveit.picknik.ai/main/api/html/classplanning__scene__monitor_1_1LockedPlanningSceneRO.html#details