Fixed the example and improved docs

example_15/CMakeLists.txt

@@ -17,7 +17,7 @@ endforeach()
 
 # INSTALL
 install(
- DIRECTORY description/ros2_control description/urdf description/rviz
+ DIRECTORY description/rviz
  DESTINATION share/ros2_control_demo_example_15
 )
 install(
@@ -29,8 +29,9 @@ if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(ament_cmake_pytest REQUIRED)
 
- ament_add_pytest_test(example_15_urdf_xacro test/test_urdf_xacro.py)
- ament_add_pytest_test(view_example_15_launch test/test_view_robot_launch.py)
+ ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py)
+ ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py)
+
 endif()
 
 ## EXPORTS

example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py

@@ -26,17 +26,17 @@ def generate_launch_description():
  declared_arguments = []
  declared_arguments.append(
  DeclareLaunchArgument(
- "use_fake_hardware",
+ "use_mock_hardware",
  default_value="false",
  description="Start robot with fake hardware mirroring command to its states.",
  )
  )
  declared_arguments.append(
  DeclareLaunchArgument(
- "fake_sensor_commands",
+ "mock_sensor_commands",
  default_value="false",
  description="Enable fake command interfaces for sensors used for simple simulations. \
- Used only if 'use_fake_hardware' parameter is true.",
+ Used only if 'use_mock_hardware' parameter is true.",
  )
  )
  declared_arguments.append(
@@ -53,20 +53,22 @@ def generate_launch_description():
  )
 
  # Initialize Arguments
- use_fake_hardware = LaunchConfiguration("use_fake_hardware")
- fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+ use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+ mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
  slowdown = LaunchConfiguration("slowdown")
  robot_controller = LaunchConfiguration("robot_controller")
 
  rrbot_1_launch = IncludeLaunchDescription(
  PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]),
  launch_arguments={
  "namespace": "rrbot_1",
- "controllers_file": "multi_controller_manager_rrbot_1_controllers.yaml",
+ "description_package": "ros2_control_demo_example_1",
  "description_file": "rrbot.urdf.xacro",
+ "runtime_config_package": "ros2_control_demo_example_15",
+ "controllers_file": "multi_controller_manager_rrbot_1_controllers.yaml",
  "prefix": "rrbot_1_",
- "use_fake_hardware": use_fake_hardware,
- "fake_sensor_commands": fake_sensor_commands,
+ "use_mock_hardware": use_mock_hardware,
+ "mock_sensor_commands": mock_sensor_commands,
  "slowdown": slowdown,
  "controller_manager_name": "/rrbot_1/controller_manager",
  "robot_controller": robot_controller,
@@ -89,11 +91,13 @@ def generate_launch_description():
  PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]),
  launch_arguments={
  "namespace": "rrbot_2",
+ "description_package": "ros2_control_demo_example_5",
+ "description_file": "rrbot_system_with_external_sensor.urdf.xacro",
+ "runtime_config_package": "ros2_control_demo_example_15",
  "controllers_file": "multi_controller_manager_rrbot_2_controllers.yaml",
- "description_file": "rrbot_system_position_only.urdf.xacro",
  "prefix": "rrbot_2_",
- "use_fake_hardware": use_fake_hardware,
- "fake_sensor_commands": fake_sensor_commands,
+ "use_mock_hardware": use_mock_hardware,
+ "mock_sensor_commands": mock_sensor_commands,
  "slowdown": slowdown,
  "controller_manager_name": "/rrbot_2/controller_manager",
  "robot_controller": robot_controller,
@@ -113,7 +117,7 @@ def generate_launch_description():
  )
 
  rviz_config_file = PathJoinSubstitution(
- [FindPackageShare("rrbot_description"), "config", "multi_controller_manager.rviz"]
+ [FindPackageShare("ros2_control_demo_example_15"), "rviz", "multi_controller_manager.rviz"]
  )
 
  rviz_node = Node(

example_15/bringup/launch/rrbot_base.launch.py

@@ -51,7 +51,7 @@ def generate_launch_description():
  declared_arguments.append(
  DeclareLaunchArgument(
  "description_package",
- default_value="rrbot_description",
+ default_value="ros2_control_demo_description",
  description="Description package with robot URDF/xacro files. Usually the argument \
  is not set, it enables use of a custom description.",
  )
@@ -80,17 +80,17 @@ def generate_launch_description():
  )
  declared_arguments.append(
  DeclareLaunchArgument(
- "use_fake_hardware",
+ "use_mock_hardware",
  default_value="true",
- description="Start robot with fake hardware mirroring command to its states.",
+ description="Start robot with mock hardware mirroring command to its states.",
  )
  )
  declared_arguments.append(
  DeclareLaunchArgument(
  "mock_sensor_commands",
  default_value="false",
- description="Enable fake command interfaces for sensors used for simple simulations. \
- Used only if 'use_fake_hardware' parameter is true.",
+ description="Enable mock command interfaces for sensors used for simple simulations. \
+ Used only if 'use_mock_hardware' parameter is true.",
  )
  )
  declared_arguments.append(
@@ -129,7 +129,7 @@ def generate_launch_description():
  description_file = LaunchConfiguration("description_file")
  prefix = LaunchConfiguration("prefix")
  use_gazebo = LaunchConfiguration("use_gazebo")
- use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+ use_mock_hardware = LaunchConfiguration("use_mock_hardware")
  mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
  slowdown = LaunchConfiguration("slowdown")
  controller_manager_name = LaunchConfiguration("controller_manager_name")
@@ -151,8 +151,8 @@ def generate_launch_description():
  "use_gazebo:=",
  use_gazebo,
  " ",
- "use_fake_hardware:=",
- use_fake_hardware,
+ "use_mock_hardware:=",
+ use_mock_hardware,
  " ",
  "mock_sensor_commands:=",
  mock_sensor_commands,

example_15/bringup/launch/rrbot_namespace.launch.py

@@ -30,7 +30,7 @@ def generate_launch_description():
  " ",
  PathJoinSubstitution(
  [
- FindPackageShare("rrbot_description"),
+ FindPackageShare("ros2_control_demo_example_1"),
  "urdf",
  "rrbot.urdf.xacro",
  ]
@@ -41,13 +41,13 @@ def generate_launch_description():
 
  robot_controllers = PathJoinSubstitution(
  [
- FindPackageShare("ros2_control_demo_bringup"),
+ FindPackageShare("ros2_control_demo_example_15"),
  "config",
  "rrbot_namespace_controllers.yaml",
  ]
  )
  rviz_config_file = PathJoinSubstitution(
- [FindPackageShare("rrbot_description"), "config", "rrbot_namespace.rviz"]
+ [FindPackageShare("ros2_control_demo_example_15"), "rviz", "rrbot_namespace.rviz"]
  )
 
  control_node = Node(

example_15/bringup/launch/test_forward_position_controller.launch.py

@@ -37,7 +37,7 @@ def generate_launch_description():
 
  position_goals = PathJoinSubstitution(
  [
- FindPackageShare("ros2_control_demo_bringup"),
+ FindPackageShare("ros2_control_demo_example_15"),
  "config",
  publisher_config,
  ]

example_15/bringup/launch/test_joint_trajectory_controller.launch.py

@@ -37,7 +37,7 @@ def generate_launch_description():
 
  position_goals = PathJoinSubstitution(
  [
- FindPackageShare("ros2_control_demo_bringup"),
+ FindPackageShare("ros2_control_demo_example_15"),
  "config",
  publisher_config,
  ]

example_15/bringup/launch/test_multi_controller_manager_forward_position_controller.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
  # For example: the parameters for different node may be placed into the same yaml file
  position_goals = PathJoinSubstitution(
  [
- FindPackageShare("ros2_control_demo_bringup"),
+ FindPackageShare("ros2_control_demo_example_15"),
  "config",
  "multi_controller_manager_forward_position_publisher.yaml",
  ]

example_15/bringup/launch/test_multi_controller_manager_joint_trajectory_controller.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
  # For example: the parameters for different node may be placed into the same yaml file
  position_goals = PathJoinSubstitution(
  [
- FindPackageShare("ros2_control_demo_bringup"),
+ FindPackageShare("ros2_control_demo_example_15"),
  "config",
  "multi_controller_manager_joint_trajectory_publisher.yaml",
  ]