message: FrankaHW::run: Update documentation.
diff: @@ -51,11 +51,15 @@ class FrankaHW : public hardware_interface::RobotHW {
  ~FrankaHW() override = default;
  /**
  - * Runs the control in case a valid run_function_ was chosen based on the
  - * claimed resources
  + * Runs the currently active controller in a realtime loop.
  + *
  + * If no controller is active, a default loop is run that reads the robot
  + * state, but does not perform control. The function only exits if
  + * ros_callback returns false.
  *
  * @param[in] ros_callback A callback function that is executed at each time
  - * step and runs all ros-side functionality of the hardware
  + * step and runs all ros-side functionality of the hardware. Execution is
  + * stopped if it returns false.
  */
  void run(std::function<bool()> ros_callback);
  