Add --param-file to the spawners

ros-controls · Jul 29, 2024 · e9a33fd · e9a33fd
1 parent 1ac5e13
commit e9a33fd
Show file tree

Hide file tree

Showing 15 changed files with 53 additions and 34 deletions.
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/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 robot_controller after `joint_state_broadcaster`

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/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
@@ -73,19 +73,19 @@ 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/...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_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
@@ -97,13 +97,13 @@ 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=["diffbot_base_controller", "--controller-manager", "/controller_manager"],
+        arguments=["diffbot_base_controller", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -140,13 +140,13 @@ 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_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -132,20 +132,20 @@ 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],
     )
 
     # add the spawner node for the fts_broadcaster
     fts_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["fts_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["fts_broadcaster", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

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
@@ -132,20 +132,20 @@ 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],
     )
 
     # add the spawner node for the fts_broadcaster
     fts_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["fts_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["fts_broadcaster" "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -140,13 +140,13 @@ 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_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -78,13 +78,13 @@ 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=["r6bot_controller", "-c", "/controller_manager"],
+        arguments=["r6bot_controller", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

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
@@ -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_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py
@@ -89,13 +89,13 @@ 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_9/bringup/launch/rrbot_gazebo.launch.py b/example_9/bringup/launch/rrbot_gazebo.launch.py
@@ -71,6 +71,15 @@ def generate_launch_description():
         ]
     )
     robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("ros2_control_demo_example_9"),
+            "config",
+            "rrbot_controllers.yaml",
+        ]
+    )
+
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
     )
@@ -85,13 +94,13 @@ 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],
     )
     rviz_node = Node(
         package="rviz2",