modify documentation for parameter_bridge

Signed-off-by: Daisuke Sato <[email protected]>

Author: daisukes

README.md

@@ -14,7 +14,7 @@ Note that before `rostopic echo` would work with bridged topics, a subscriber mu
 You can use the `--bridge-all-2to1-topics` option to bridge all ROS 2 topics to ROS 1 so that tools such as `rostopic list` and `rqt` will see the topics even if there are no matching ROS 1 subscribers.
 Run `ros2 run ros1_bridge dynamic_bridge -- --help` for more options.
 
-If you want to specify topics you want to bridge, run `ros2 run ros1_bridge parameter_bridge`. See [here](doc/parameter_bridge.rst) for more information.
+If you want to specify messages/services you want to bridge, run `ros2 run ros1_bridge parameter_bridge`. See [here](doc/parameter_bridge.rst) for more information.
 
 ## Prerequisites
 

doc/parameter_bridge.rst

@@ -1,11 +1,12 @@
+
 parameter_bridge configuration
 ==============================
 
 You can launch parameter_bridge with the following command::
   
-    ros2 run ros1_bridge parameter_bridge
+    ros2 run ros1_bridge parameter_bridge [<topics_name> [<services_1_to_2_name> [<services_2_to_1_name>]]]
 
-Parameter bridge reads ``/topics`` parameter on ROS1 to make your bridge. Here is an example of configuration::
+Parameter bridge reads ``topics``, ``services_1_to_2``, and ``services_2_to_1`` parameters on ROS1 as default to make your bridge. You can specify the names of those parameters as arguments of the command. Here is an example of configuration::
 
  <rosparam>
  topics:
@@ -45,6 +46,16 @@ Parameter bridge reads ``/topics`` parameter on ROS1 to make your bridge. Here i
      transient_local: true
      reliable: true
      latch: true
+
+ services_1_to_2:
+   -
+     service: /gazebo/pause_physics
+     type: std_srvs/srv/Empty
+
+ services_2_to_1:
+   -
+     service: /reinitialize_global_localization
+     type: std_srvs/srv/Empty
  </rosparam>
 
 Configuration Syntax
@@ -58,10 +69,19 @@ Configuration Syntax
    :widths: 20, 10, 10, 50
 
    **topic**, YES, N/A, Name of the topic to bridge which is used in both ROS1/2
-   **type**,       YES, N/A, message type in ROS2 (see `here <./index.rst>`_ how to map ROS1 and ROS2 messages)
-   **queue_size**, NO,  100, queue size used in both ROS1/2 
+   **type**,       YES, N/A, Message type in ROS2 (see `here <./index.rst>`_ how to map ROS1 and ROS2 messages)
+   **queue_size**, NO,  100, Queue size used in both ROS1/2 
    **direction**,  NO,  bidirectionl, ``bidirectional`` or ``1to2`` or ``2to1``
-   **transient_local**, NO, false, set ROS2 QoS durability profile transient_local (used both for 1to2 and 2to1)
-   **reliable**,        NO, false, set ROS2 QoS durability profile reliable (used both for 1to2 and 2to1)
-   **latch**,           NO, false, publish ROS1 message with latch option (used only for 2to1)
-  
+   **transient_local**, NO, false, Set ROS2 QoS durability profile transient_local (used both for 1to2 and 2to1)
+   **reliable**,        NO, false, Set ROS2 QoS durability profile reliable (used both for 1to2 and 2to1)
+   **latch**,           NO, false, Publish ROS1 message with latch option (used only for 2to1)
+- **services_1_to_2**: <array of **service**>, ROS1 services will be available in ROS2
+- **services_2_to_1**: <array of **service**>, ROS2 services will be available in ROS1
+- **service**: <dict>
+
+  .. csv-table:: 
+   :header: "key", "required", "description"
+   :widths: 20, 10, 60
+
+   **service**, YES, Name of the service to bridge which is used in both ROS1/2
+   **type**, YES, Service type in ROS2  (see `here <./index.rst>`_ how to map ROS1 and ROS2 messages)