From 9d56081b2934e98f9bfb773608949d97fd165095 Mon Sep 17 00:00:00 2001
From: attu0 <atharvmudse@gmail.com>
Date: Sat, 25 Jan 2025 21:59:51 +0530
Subject: [PATCH 1/2] Enhanced documentation for composeMultiArrayMessage
 function

---
 moveit_ros/moveit_servo/src/utils/common.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
index 7ce13c1805..44aa922cdf 100644
--- a/moveit_ros/moveit_servo/src/utils/common.cpp
+++ b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -255,6 +255,22 @@ void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicS
   joint_cmd_rolling_window.push_back(next_joint_state);
 }
 
+/**
+ * @brief Composes a Float64MultiArray message for controllers requiring Float64MultiArray input.
+ * 
+ * This function converts the given joint state into a Float64MultiArray message.
+ * 
+ * @param servo_params Configuration parameters for the servo, including message type selection.
+ * @param joint_state The current joint state to be converted into the message.
+ * @return A Float64MultiArray message containing the joint state data.
+ * 
+ * Example:
+ * @code
+ * auto message = composeMultiArrayMessage(servo_params, joint_state);
+ * controller.publish(message);
+ * @endcode
+ */
+
 std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
                                                           const KinematicState& joint_state)
 {

From 447e529745accf54658c511b3530c39b8801e40f Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Sat, 25 Jan 2025 11:32:54 -0600
Subject: [PATCH 2/2] Nitpicky wording correction

---
 moveit_ros/moveit_servo/src/utils/common.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
index 44aa922cdf..3ec764d310 100644
--- a/moveit_ros/moveit_servo/src/utils/common.cpp
+++ b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -261,7 +261,7 @@ void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicS
  * This function converts the given joint state into a Float64MultiArray message.
  * 
  * @param servo_params Configuration parameters for the servo, including message type selection.
- * @param joint_state The current joint state to be converted into the message.
+ * @param joint_state The joint state to be converted into the message.
  * @return A Float64MultiArray message containing the joint state data.
  * 
  * Example: