fix demo launch (ros-controls#75)

iche033 · Feb 10, 2023 · 5802a81 · 5802a81
1 parent 582c33b
commit 5802a81
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Showing 4 changed files with 9 additions and 9 deletions.
diff --git a/ign_ros2_control_demos/launch/cart_example_effort.launch.py b/ign_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -61,13 +61,13 @@ def generate_launch_description():
     )
 
     load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'effort_controllers'],
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
         output='screen'
     )
 

diff --git a/ign_ros2_control_demos/launch/cart_example_position.launch.py b/ign_ros2_control_demos/launch/cart_example_position.launch.py
@@ -61,13 +61,13 @@ def generate_launch_description():
     )
 
     load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_trajectory_controller'],
         output='screen'
     )

diff --git a/ign_ros2_control_demos/launch/cart_example_velocity.launch.py b/ign_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -61,18 +61,18 @@ def generate_launch_description():
     )
 
     load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'velocity_controller'],
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'velocity_controller'],
         output='screen'
     )
 
     load_imu_sensor_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'imu_sensor_broadcaster'],
         output='screen'
     )

diff --git a/ign_ros2_control_demos/launch/diff_drive_example.launch.py b/ign_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -62,13 +62,13 @@ def generate_launch_description():
     )
 
     load_joint_state_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'diff_drive_base_controller'],
         output='screen'
     )