From 9ddd54252b45a97a10656c113648c285833016e1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 4 Nov 2021 09:50:59 +0100 Subject: [PATCH] Fix ros2_control resource manager in galatic (#96) Signed-off-by: ahcorde --- gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 2 +- .../launch/cart_example_velocity.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp index 53aaa4d9..8c5760f7 100644 --- 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(); diff --git a/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py b/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py index d7a89a88..b920f265 100644 --- 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' )