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Update code with recent change in ros2_control #81

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merged 2 commits into from
Jun 16, 2021
Merged

Update code with recent change in ros2_control #81

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72a9595
Update code with recent change in ros2_control
ahcorde Jun 15, 2021
7a37837
make linters happy
ahcorde Jun 15, 2021
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9 changes: 7 additions & 2 deletions gazebo_ros2_control_demos/config/cartpole_controller.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,16 @@ controller_manager:
joint_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController

joint_state_controller:
type: joint_state_controller/JointStateController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

joint_trajectory_controller:
ros__parameters:
joints:
- slider_to_cart
interface_name: position
command_interfaces:
- position
state_interfaces:
- position
- velocity
10 changes: 8 additions & 2 deletions gazebo_ros2_control_demos/config/cartpole_controller_effort.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,16 @@ controller_manager:
effort_controllers:
type: effort_controllers/JointGroupEffortController

joint_state_controller:
type: joint_state_controller/JointStateController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

effort_controllers:
ros__parameters:
joints:
- slider_to_cart
command_interfaces:
- effort
state_interfaces:
- position
- velocity
- effort
9 changes: 7 additions & 2 deletions gazebo_ros2_control_demos/config/cartpole_controller_velocity.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,15 @@ controller_manager:
velocity_controller:
type: velocity_controllers/JointGroupVelocityController

joint_state_controller:
type: joint_state_controller/JointStateController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

velocity_controller:
ros__parameters:
joints:
- slider_to_cart
command_interfaces:
- velocity
state_interfaces:
- position
- velocity
9 changes: 5 additions & 4 deletions gazebo_ros2_control_demos/launch/cart_example_effort.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,12 +57,13 @@ def generate_launch_description():
output='screen')

load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'joint_state_broadcaster'],
output='screen'
)

load_effort_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'effort_controllers'],
load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'effort_controllers'],
output='screen'
)

Expand All @@ -76,7 +77,7 @@ def generate_launch_description():
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_effort_controller],
on_exit=[load_joint_trajectory_controller],
)
),
gazebo,
Expand Down
5 changes: 3 additions & 2 deletions gazebo_ros2_control_demos/launch/cart_example_position.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,12 +57,13 @@ def generate_launch_description():
output='screen')

load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'joint_state_broadcaster'],
output='screen'
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'joint_trajectory_controller'],
output='screen'
)

Expand Down
9 changes: 5 additions & 4 deletions gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,13 @@ def generate_launch_description():
output='screen')

load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'joint_state_broadcaster'],
output='screen'
)

load_velocity_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'velocity_controller'],
load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'velocity_controller'],
output='screen'
)

Expand All @@ -75,7 +76,7 @@ def generate_launch_description():
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_velocity_controller],
on_exit=[load_joint_trajectory_controller],
)
),
gazebo,
Expand Down