message: franka_control: Resolve Doxygen warnings.
diff: namespace franka_control {
  +/**
  + * Controller to publish the robot state as ROS topics.
  + */
  class FrankaStateController
  : public controller_interface::MultiInterfaceController<franka_hw::FrankaStateInterface> {
  public:
  + /**
  + * Creates an instance of a FrankaStateController.
  + */
  FrankaStateController();
  /**
  - * Initializes the controller with interfaces and publishers
  + * Initializes the controller with interfaces and publishers.
  *
  - * @param[in] hardware Pointer to the robot hardware
  - * @param[in] root_node_handle Nodehandle on root level passed from HW node
  - * @param[in] controller_node_handle Nodehandle in the controller namespace
  - * passed from HW node
  + * @param[in] robot_hardware RobotHW instance to get a franka_hw::FrankaStateInterface from.
  + * @param[in] root_node_handle Node handle in the controller_manager namespace.
  + * @param[in] controller_node_handle Node handle in the controller namespace.
  */
  bool init(hardware_interface::RobotHW* robot_hardware,
  ros::NodeHandle& root_node_handle,
  ros::NodeHandle& controller_node_handle) override;
  /**
  - * Reads a new franka robot state and publishes it
  + * Reads the current robot state from the franka_hw::FrankaStateInterface and publishes it.
  *
  - * @param[in] time Current ros time
  + * @param[in] time Current ROS time.
  + * @param[in] period Time since the last update.
  */
  - void update(const ros::Time& time, const ros::Duration&) override;
  + void update(const ros::Time& time, const ros::Duration& period) override;
  private:
  - /**
  - * Publishes all relevant data received from the Franka arm
  - *
  - * @param[in] time Current ros time
  - */
  void publishFrankaStates(const ros::Time& time);
  -
  - /**
  - * Publishes the joint states of the Franka arm
  - *
  - * @param[in] time Current ros time
  - */
  void publishJointStates(const ros::Time& time);
  -
  - /**
  - * Publishes the transforms for EE and K frame which define the end-effector
  - * (EE) and the Cartesian impedance reference frame (K)
  - *
  - * @param[in] time Current ros time
  - */
  void publishTransforms(const ros::Time& time);
  -
  - /**
  - * Publishes the estimated external wrench felt by the Franka
  - *
  - * @param[in] time Current ros time
  - */
  void publishExternalWrench(const ros::Time& time);
  std::string arm_id_;
  