fix: motion_primitive_controller TOC in docs (#2216)

Author: SouriRishik

doc/controllers_index.rst

@@ -42,13 +42,13 @@ Controllers for Manipulators and Other Robots
    Admittance Controller <../admittance_controller/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
+   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
+   Motion Primitive Controller <../motion_primitives_controllers/doc/userdoc.rst>
    Parallel Gripper Controller <../parallel_gripper_controller/doc/userdoc.rst>
    PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
-   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>
-   Motion Primitive Controller <../motion_primitives_controllers/userdoc.rst>
 
 Broadcasters
 **********************

motion_primitives_controllers/README.md …ion_primitives_controllers/doc/README.mdmotion_primitives_controllers/README.md renamed to motion_primitives_controllers/doc/README.md motion_primitives_controllers/README.md renamed to motion_primitives_controllers/doc/README.md

@@ -15,7 +15,7 @@ If multiple motion primitives are passed to the controller via the action, the c
 
 The action interface also allows stopping the current execution of motion primitives. When a stop request is received, the controller sends `STOP_MOTION` to the hardware interface, which then halts the robot's movement. Once the controller receives confirmation that the robot has stopped, it sends `RESET_STOP` to the hardware interface. After that, new commands can be sent.
 
-![Action Image](doc/Moprim_Controller_ExecuteMotion_Action.drawio.png)
+![Action Image](Moprim_Controller_ExecuteMotion_Action.drawio.png)
 
 This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/examples/examples.py) in the `Universal_Robots_ROS2_Driver` package.
 
@@ -49,14 +49,14 @@ These interfaces are used to communicate the internal status of the hardware int
 # Architecture Overview
 Architecture for a UR robot with [`Universal_Robots_ROS2_Driver` in motion primitives mode](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver).
 
-![UR Robot Architecture](doc/ros2_control_motion_primitives_ur.drawio.png)
+![UR Robot Architecture](ros2_control_motion_primitives_ur.drawio.png)
 
 Architecture for a KUKA robot with [`kuka_eki_motion_primitives_hw_interface`](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver/kuka_eki_motion_primitives_hw_interface).
 
-![KUKA Robot Architecture](doc/ros2_control_motion_primitives_kuka.drawio.png)
+![KUKA Robot Architecture](ros2_control_motion_primitives_kuka.drawio.png)
 
 # Demo-Video with UR10e
-[![UR demo video](doc/moprim_forward_controller_ur_demo_thumbnail.png)](https://youtu.be/SKz6LFvJmhQ)
+[![UR demo video](moprim_forward_controller_ur_demo_thumbnail.png)](https://youtu.be/SKz6LFvJmhQ)
 
 # Demo-Video with KR3
-[![KUKA demo video](doc/moprim_forward_controller_kuka_demo_thumbnail.png)](https://youtu.be/_BWCO36j9bg)
+[![KUKA demo video](moprim_forward_controller_kuka_demo_thumbnail.png)](https://youtu.be/_BWCO36j9bg)

motion_primitives_controllers/userdoc.rst …n_primitives_controllers/doc/userdoc.rstmotion_primitives_controllers/userdoc.rst renamed to motion_primitives_controllers/doc/userdoc.rst motion_primitives_controllers/userdoc.rst renamed to motion_primitives_controllers/doc/userdoc.rst

@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/doc/userdoc.rst
 
 .. _motion_primitives_controllers_userdoc:
 
@@ -11,9 +11,9 @@ Parameters
 
 This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/src/motion_primitives_forward_controller_parameter.yaml>`_ contains descriptions for all the parameters used by the controller.
 
-.. generate_parameter_library_details:: src/motion_primitives_forward_controller_parameter.yaml
+.. generate_parameter_library_details:: ../src/motion_primitives_forward_controller_parameter.yaml
 
 An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/test/motion_primitives_forward_controller_params.yaml>`_:
 
-.. literalinclude:: test/motion_primitives_forward_controller_params.yaml
+.. literalinclude:: ../test/motion_primitives_forward_controller_params.yaml
    :language: yaml