Update JointController.h: added doc for publish hook

source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h

@@ -69,7 +69,18 @@ namespace armarx
         std::size_t rtGetHardwareControlModeHash() const;
 
         ControlDevice& getParent() const;
-
+        
+        /**
+         * Hook for publishing data from JointController, mainly for debugging purposes. The preferred way is to use the
+         * return value of the function to publish the data. This function is called in the publish thread, **not** the RT thread.
+         * Thus, appropriate lock-free synchronization (e.g. atomic variables or TrippleBuffer) must be used to move the data from RT
+         * thread to the publish thread.
+         * @param draw Interface proxy to the DebugDrawer topic.
+         * @param observer Interface proxy to DebugObserver topic.
+         * @return These values are published on the RobotUnitObserver in the channel "ControlDevices". The keys of the map are prepended
+         * with "{ControlDeviceName}_{ControlModeName}_" and are used as keys of the datafields.
+         * 
+         */ 
         virtual StringVariantBaseMap publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const;
 
     protected: