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",
         ]