Completely lacking documentation on moveit servo

[PietroValerio]

Description

Completely lacking documentation, cpp api assumes that the controller used accepts messages of type trajectory_msgs::msg::joint_trajectory, what about if we have a controller only accepting std_msgs/msg/Float64MultiArray. Nothing inside the documentation covering this use case, you need to go digging inside the codebase to find that there is a function composeMultiArrayMessage that maybe can do the job, but you can't know it because is not documented.
You want to be the industry de-facto standard, before you should worry about fixing your documentation

ROS Distro

Jazzy

OS and version

24.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

main

Which RMW are you using?

None

Steps to Reproduce

Watch moveit servo tutorial

Expected behavior

Fully documented

Actual behavior

Lacking documentation

Backtrace or Console output

No response

[mikeferguson]

This is an open source project, staffed by volunteers. PRs to improve documentation are welcome.