Bump example to latest ros2_control(ler) syntax

StoglRobotics-forks · Aug 5, 2023 · 11e2c88 · 11e2c88
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Showing 9 changed files with 37 additions and 23 deletions.
diff --git a/README.md b/README.md
@@ -699,7 +699,7 @@ ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py
 
 Switch controller to use `position_trajectory_controller` (`JointTrajectoryController`):
 ```
-ros2 control switch_controllers -c /rrbot/controller_manager --stop forward_position_controller --start position_trajectory_controller
+ros2 control switch_controllers -c /rrbot/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
 ```
 
 Commanding the robot using `JointTrajectoryController` (name: `/rrbot/position_trajectory_controller`)
@@ -750,8 +750,8 @@ ros2 launch ros2_control_demo_bringup test_multi_controller_manager_forward_posi
 
 Switch controller to use `position_trajectory_controller`s (`JointTrajectoryController`) - alternatively start main launch file with argument `robot_controller:=position_trajectory_controller`:
 ```
-ros2 control switch_controllers -c /rrbot_1/controller_manager --stop forward_position_controller --start position_trajectory_controller
-ros2 control switch_controllers -c /rrbot_2/controller_manager --stop forward_position_controller --start position_trajectory_controller
+ros2 control switch_controllers -c /rrbot_1/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
+ros2 control switch_controllers -c /rrbot_2/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
 ```
 
 Commanding the robot using `JointTrajectoryController` (`position_trajectory_controller`):

diff --git a/ros2_control_demo_bringup/config/multi_controller_manager_forward_position_publisher.yaml b/ros2_control_demo_bringup/config/multi_controller_manager_forward_position_publisher.yaml
@@ -1,7 +1,8 @@
 /rrbot_1/publisher_forward_position_controller:
   ros__parameters:
 
-    controller_name: "rrbot_1/forward_position_controller"
+
+    publish_topic: "forward_position_controller/commands"
     wait_sec_between_publish: 5
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
@@ -14,7 +15,7 @@
 /rrbot_2/publisher_forward_position_controller:
   ros__parameters:
 
-    controller_name: "rrbot_2/forward_position_controller"
+    publish_topic: "forward_position_controller/commands"
     wait_sec_between_publish: 5
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]

diff --git a/ros2_control_demo_bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml b/ros2_control_demo_bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml
@@ -5,10 +5,14 @@
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [0.785, 0.785]
-    pos2: [0.0, 0.0]
-    pos3: [-0.785, -0.785]
-    pos4: [0.0, 0.0]
+    pos1:
+      positions: [0.785, 0.785]
+    pos2:
+      positions: [0.0, 0.0]
+    pos3:
+      positions: [-0.785, -0.785]
+    pos4:
+      positions: [0.0, 0.0]
 
     joints:
       - rrbot_1_joint1
@@ -27,10 +31,14 @@
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [-0.785, 0.0]
-    pos2: [0.0, -0.785]
-    pos3: [+0.785, -1.57]
-    pos4: [+1.57, -0.785]
+    pos1:
+      positions: [-0.785, 0.0]
+    pos2:
+      positions: [0.0, -0.785]
+    pos3:
+      positions: [+0.785, -1.57]
+    pos4:
+      positions: [+1.57, -0.785]
 
     joints:
       - rrbot_2_joint1

diff --git a/ros2_control_demo_bringup/config/rrbot_namespace_forward_position_publisher.yaml b/ros2_control_demo_bringup/config/rrbot_namespace_forward_position_publisher.yaml
@@ -1,9 +1,10 @@
 publisher_forward_position_controller:
   ros__parameters:
 
-    controller_name: "rrbot/forward_position_controller"
     wait_sec_between_publish: 5
 
+    publish_topic: /rrbot/forward_position_controller/commands
+
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
     pos1: [0.785, 0.785]
     pos2: [0, 0]

diff --git a/ros2_control_demo_bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml b/ros2_control_demo_bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml
@@ -5,10 +5,14 @@ publisher_joint_trajectory_controller:
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [0.785, 0.785]
-    pos2: [0, 0]
-    pos3: [-0.785, -0.785]
-    pos4: [0, 0]
+    pos1:
+      positions: [0.785, 0.785]
+    pos2:
+      positions: [0.0, 0.0]
+    pos3:
+      positions: [-0.785, -0.785]
+    pos4:
+      positions: [0.0, 0.0]
 
     joints:
       - joint1

diff --git a/ros2_control_demo_bringup/launch/multi_controller_manager_example_two_rrbots.launch.py b/ros2_control_demo_bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
@@ -81,7 +81,7 @@ def generate_launch_description():
             "position_trajectory_controller",
             "-c",
             "/rrbot_1/controller_manager",
-            "--stopped",
+            "--inactive",
         ],
     )
 
@@ -108,7 +108,7 @@ def generate_launch_description():
             "position_trajectory_controller",
             "-c",
             "/rrbot_2/controller_manager",
-            "--stopped",
+            "--inactive",
         ],
     )
 

diff --git a/ros2_control_demo_bringup/launch/rrbot_namespace.launch.py b/ros2_control_demo_bringup/launch/rrbot_namespace.launch.py
@@ -100,7 +100,7 @@ def generate_launch_description():
             "position_trajectory_controller",
             "-c",
             "/rrbot/controller_manager",
-            "--stopped",
+            "--inactive",
         ],
     )
 

diff --git a/ros2_control_demo_bringup/launch/test_forward_position_controller.launch.py b/ros2_control_demo_bringup/launch/test_forward_position_controller.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             Node(
-                package="ros2_control_test_nodes",
+                package="ros2_controllers_test_nodes",
                 executable="publisher_forward_position_controller",
                 name="publisher_forward_position_controller",
                 parameters=[position_goals],

diff --git a/ros2_control_demo_bringup/launch/test_joint_trajectory_controller.launch.py b/ros2_control_demo_bringup/launch/test_joint_trajectory_controller.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             Node(
-                package="ros2_control_test_nodes",
+                package="ros2_controllers_test_nodes",
                 executable="publisher_joint_trajectory_controller",
                 name="publisher_joint_trajectory_controller",
                 parameters=[position_goals],