From e68ae942ff2014df03722c6c695c5d07e97fb843 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Sat, 2 Mar 2024 23:23:57 +0000
Subject: [PATCH] Updated missing demos

---
 example_2/bringup/launch/diffbot.launch.py                      | 2 +-
 example_3/bringup/launch/rrbot_system_multi_interface.launch.py | 2 +-
 example_4/bringup/launch/rrbot_system_with_sensor.launch.py     | 2 +-
 .../bringup/launch/rrbot_system_with_external_sensor.launch.py  | 2 +-
 example_6/bringup/launch/rrbot_modular_actuators.launch.py      | 2 +-
 example_7/bringup/launch/r6bot_controller.launch.py             | 2 +-
 .../launch/rrbot_transmissions_system_position_only.launch.py   | 2 +-
 example_9/bringup/launch/rrbot.launch.py                        | 2 +-
 8 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 7a71af0b..04b454a0 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -73,7 +73,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
index e10c7997..969cf745 100644
--- a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
+++ b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
index b9503914..857d5963 100644
--- a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
+++ b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
index 22919564..67549990 100755
--- a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
+++ b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
index 24821fd7..8c097d89 100644
--- a/example_6/bringup/launch/rrbot_modular_actuators.launch.py
+++ b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
index bc3e048b..135c6945 100644
--- a/example_7/bringup/launch/r6bot_controller.launch.py
+++ b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -52,7 +52,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         remappings=[
             (
                 "/forward_position_controller/commands",
diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
index f4299977..4476a3f3 100644
--- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
+++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py
index 2a61c1ce..fbc54bcc 100644
--- a/example_9/bringup/launch/rrbot.launch.py
+++ b/example_9/bringup/launch/rrbot.launch.py
@@ -68,7 +68,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(