Fix multi-robot demo (partially)

[christophfroehlich]

I was not able to push directly to ros-controls#187, because the setting Allow edits and access to secrets by maintainers is not set.

Make the example work with rolling until the last step

• new spawner syntax
• new controller-manager syntax
• add list_hardware_components output
• apply feedback from the original PR

Something is still not working properly with the cleanup in the last step. The service controller_manager_msgs/srv/CleanupHardwareComponent is not available (I cannot find it in the history, was it ever?). I tried to bring it into finalized state

ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState "
name: RRBotSystemPositionOnly
target_state:
 id: 0
 label: finalized"

but get the following error now, and joint_state_broadcaster can't be activated again.

[ros2_control_node-1] [WARN] [1691260478.510570255] [resource_manager]: (hardware 'RRBotSystemPositionOnly'): 'rrbot_joint1/position' command interface not in available list. This should not happen (hint: multiple cleanup calls).
[ros2_control_node-1] [WARN] [1691260478.510572441] [resource_manager]: (hardware 'RRBotSystemPositionOnly'): 'rrbot_joint2/position' command interface not in available list. This should not happen (hint: multiple cleanup calls).
[ros2_control_node-1] [WARN] [1691260478.510574080] [resource_manager]: (hardware 'RRBotSystemPositionOnly'): 'rrbot_joint1/position' state interface not in available list. This should not happen (hint: multiple cleanup calls).
[ros2_control_node-1] [WARN] [1691260478.510575651] [resource_manager]: (hardware 'RRBotSystemPositionOnly'): 'rrbot_joint2/position' state interface not in available list. This should not happen (hint: multiple cleanup calls).

[destogl]

I was not able to push directly to ros-controls#187, because the setting Allow edits and access to secrets by maintainers is not set.

This is usually the issue with organizations - it doesn't work with organizations.

[destogl]

Something is still not working properly with the cleanup in the last step. The service controller_manager_msgs/srv/CleanupHardwareComponent is not available (I cannot find it in the history, was it ever?). I tried to bring it into finalized state

I had this on a working branch (at least), but we decided to remove those services and use "SetHardwareState" as general service.

[destogl]

but get the following error now, and joint_state_broadcaster can't be activated again.

This error is known to me, I dug already in, but it was not trivial to solve and not easy to fix. Regarding reactivation of the JSB, what's the error there? I am not sure if we did clean implementation of the reactivation. It could be that we are not cleaning something properly.

[christophfroehlich]

I realized now that all four joint_state_publisher publish on /joint_states. Is this the intention? I guess not because after configuring the FakeThreeDofBot rviz already shows a still-standing robot and it is not broken any more as written in the readme.

[christophfroehlich]

but get the following error now, and joint_state_broadcaster can't be activated again.

This error is known to me, I dug already in, but it was not trivial to solve and not easy to fix. Regarding reactivation of the JSB, what's the error there? I am not sure if we did clean implementation of the reactivation. It could be that we are not cleaning something properly.

There is no error message from ros2_control_node, it just does not activate it. I thought that not being able to reactivate JSB is a consequence of the other error.

Edit: I tried to get some debug output. The output from the --deactivate call:

the output from the --activate seems to be fine

but still inactive

$ ros2 control list_controllers
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive  

[christophfroehlich]

Closing in favor of ros-controls#417