Fix ros2_control resource manager in galatic (ros-controls#96)

Signed-off-by: ahcorde <ahcorde@gmail.com>
ksotebeer · Jun 14, 2022 · f04505a · f04505a
1 parent 5110781
commit f04505a
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -302,7 +302,7 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
       return;
     }
 
-    resource_manager_->import_component(std::move(gazeboSystem));
+    resource_manager_->import_component(std::move(gazeboSystem), control_hardware[i]);
   }
 
   impl_->executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();

diff --git a/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py b/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -67,7 +67,7 @@ def generate_launch_description():
     )
 
     load_imu_sensor_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_start_controller', 'imu_sensor_broadcaster'],
+        cmd=['ros2', 'control', 'load_controller', 'imu_sensor_broadcaster'],
         output='screen'
     )