Give the controller type as parameter in ctrl namespace (#502)

* Give the controller type as parameter in ctrl namespace * Update type parameters for ex15 * Remove namespaces from controllers * Add spawner namespacing and also add the missing --params-file path * add missing parameter namespaces in config files * Add --param-file to the spawners * add missing comma separation --------- Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
ros-controls · Jul 30, 2024 · 902b4bd · 902b4bd
1 parent 0ba16d2
commit 902b4bd
Show file tree

Hide file tree

Showing 34 changed files with 117 additions and 133 deletions.
diff --git a/example_1/bringup/config/rrbot_controllers.yaml b/example_1/bringup/config/rrbot_controllers.yaml
@@ -5,15 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    joint_trajectory_position_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
@@ -22,6 +17,8 @@ forward_position_controller:
 
 joint_trajectory_position_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
+
     joints:
       - joint1
       - joint2

diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -88,13 +88,13 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
+        arguments=["forward_position_controller", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

diff --git a/example_10/bringup/config/rrbot_controllers.yaml b/example_10/bringup/config/rrbot_controllers.yaml
@@ -5,22 +5,18 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    gpio_controller:
-      type: ros2_control_demo_example_10/GPIOController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
     interface_name: position
 
 gpio_controller:
   ros__parameters:
+    type: ros2_control_demo_example_10/GPIOController
     inputs:
      - flange_analog_IOs/analog_output1
      - flange_analog_IOs/analog_input1

diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
@@ -78,19 +78,19 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "-c", "/controller_manager"],
+        arguments=["forward_position_controller", "--param-file", robot_controllers],
     )
 
     gpio_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["gpio_controller", "-c", "/controller_manager"],
+        arguments=["gpio_controller", "--param-file", robot_controllers],
     )
 
     # Delay start of joint_state_broadcaster after `robot_controller`

diff --git a/example_11/bringup/config/carlikebot_controllers.yaml b/example_11/bringup/config/carlikebot_controllers.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    bicycle_steering_controller:
-      type: bicycle_steering_controller/BicycleSteeringController
-
 
 bicycle_steering_controller:
   ros__parameters:
+    type: bicycle_steering_controller/BicycleSteeringController
     wheelbase: 0.325
     front_wheel_radius: 0.05
     rear_wheel_radius: 0.05

diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -108,13 +108,13 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_bicycle_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["bicycle_steering_controller", "--controller-manager", "/controller_manager"],
+        arguments=["bicycle_steering_controller", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

diff --git a/example_12/bringup/config/rrbot_chained_controllers.yaml b/example_12/bringup/config/rrbot_chained_controllers.yaml
@@ -5,39 +5,30 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    joint1_position_controller:
-      type: passthrough_controller/PassthroughController
-
-    joint2_position_controller:
-      type: passthrough_controller/PassthroughController
-
-    position_controller:
-      type: passthrough_controller/PassthroughController
-
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
 
 # First-level controllers
 joint1_position_controller:
   ros__parameters:
+    type: passthrough_controller/PassthroughController
     interfaces: ["joint1/position"]
 
-
 joint2_position_controller:
   ros__parameters:
+    type: passthrough_controller/PassthroughController
     interfaces: ["joint2/position"]
 
-
 # Second-level controller
 position_controller:
   ros__parameters:
+    type: passthrough_controller/PassthroughController
     interfaces:
       - joint1_position_controller/joint1/position
       - joint2_position_controller/joint2/position
 
 # Third-level controllers
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - position_controller/joint1_position_controller/joint1
       - position_controller/joint2_position_controller/joint2

diff --git a/example_12/bringup/launch/launch_chained_controllers.launch.py b/example_12/bringup/launch/launch_chained_controllers.launch.py
@@ -16,21 +16,31 @@
 from launch import LaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
+from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("ros2_control_demo_example_12"),
+            "config",
+            "rrbot_chained_controllers.yaml",
+        ]
+    )
+
     position_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["position_controller", "--controller-manager", "/controller_manager"],
+        arguments=["position_controller", "--param-file", robot_controllers],
     )
 
     forward_position_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
+        arguments=["forward_position_controller", "--param-file", robot_controllers],
     )
 
     # Delay start of forward_position_controller_spawner after `position_controller_spawner`

diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
@@ -88,19 +88,19 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     j1_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint1_position_controller", "--controller-manager", "/controller_manager"],
+        arguments=["joint1_position_controller", "--param-file", robot_controllers],
     )
 
     j2_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint2_position_controller", "--controller-manager", "/controller_manager"],
+        arguments=["joint2_position_controller", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

diff --git a/...ringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml b/...ringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_velocity_controller:
-      type: forward_command_controller/ForwardCommandController
-
 
 forward_velocity_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2

diff --git a/...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -117,13 +117,13 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
+        arguments=[robot_controller, "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

diff --git a/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml b/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml
@@ -5,15 +5,10 @@
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    position_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 /rrbot_1/forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - rrbot_1_joint1
       - rrbot_1_joint2
@@ -22,6 +17,7 @@
 
 /rrbot_1/position_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - rrbot_1_joint1
       - rrbot_1_joint2

diff --git a/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml b/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml
@@ -5,15 +5,10 @@
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    position_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 /rrbot_2/forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - rrbot_2_joint1
       - rrbot_2_joint2
@@ -22,6 +17,7 @@
 
 /rrbot_2/position_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - rrbot_2_joint1
       - rrbot_2_joint2

diff --git a/example_15/bringup/config/rrbot_namespace_controllers.yaml b/example_15/bringup/config/rrbot_namespace_controllers.yaml
@@ -5,15 +5,10 @@
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    position_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 /rrbot/forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
@@ -22,6 +17,7 @@
 
 /rrbot/position_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - joint1
       - joint2

diff --git a/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py b/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
@@ -90,11 +90,18 @@ def generate_launch_description():
     rrbot_1_position_trajectory_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
+        namespace="rrbot_1",
         arguments=[
             "position_trajectory_controller",
-            "-c",
-            "/rrbot_1/controller_manager",
             "--inactive",
+            "--param-file",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_15"),
+                    "config",
+                    "multi_controller_manager_rrbot_1_controllers.yaml",
+                ]
+            ),
         ],
     )
 
@@ -119,11 +126,18 @@ def generate_launch_description():
     rrbot_2_position_trajectory_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
+        namespace="rrbot_2",
         arguments=[
             "position_trajectory_controller",
-            "-c",
-            "/rrbot_2/controller_manager",
             "--inactive",
+            "--param-file",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_15"),
+                    "config",
+                    "multi_controller_manager_rrbot_2_controllers.yaml",
+                ]
+            ),
         ],
     )
 

diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py
@@ -209,7 +209,13 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         namespace=namespace,
-        arguments=[robot_controller, "-c", controller_manager_name],
+        arguments=[
+            robot_controller,
+            "-c",
+            controller_manager_name,
+            "--param-file",
+            robot_controllers,
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`