Use ros2 control node from controller_manager and description topic #939
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Since that also has realtime scheuling built-in we no longer need our own.
It now uses the description topic from the robot_state_publisher automatically.
destogl
approved these changes
Feb 29, 2024
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Since CM's control node also supports realtime scheduling and we use a non-blocking read anyway, there's no need for keeping around our own control node anymore.
Also, I switched from the description parameter to the description topic, as the parameter will soon be removed upstream