Cleanup controller config (backport #180) (#181)

* Cleanup controller config (#180) Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 2231745) Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
ros-controls · Sep 7, 2023 · 889837d · 889837d
1 parent 8299d0c
commit 889837d
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 17 deletions.
diff --git a/ign_ros2_control_demos/config/cartpole_controller_effort.yaml b/ign_ros2_control_demos/config/cartpole_controller_effort.yaml
@@ -2,19 +2,13 @@ controller_manager:
   ros__parameters:
     update_rate: 1000  # Hz
 
-    effort_controllers:
+    effort_controller:
       type: effort_controllers/JointGroupEffortController
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-effort_controllers:
+effort_controller:
   ros__parameters:
     joints:
       - slider_to_cart
-    command_interfaces:
-      - effort
-    state_interfaces:
-      - position
-      - velocity
-      - effort
diff --git a/ign_ros2_control_demos/config/cartpole_controller_velocity.yaml b/ign_ros2_control_demos/config/cartpole_controller_velocity.yaml
@@ -15,11 +15,6 @@ velocity_controller:
   ros__parameters:
     joints:
       - slider_to_cart
-    command_interfaces:
-      - velocity
-    state_interfaces:
-      - position
-      - velocity
 
 imu_sensor_broadcaster:
   ros__parameters:

diff --git a/ign_ros2_control_demos/examples/example_effort.cpp b/ign_ros2_control_demos/examples/example_effort.cpp
@@ -26,7 +26,7 @@ int main(int argc, char * argv[])
     std::make_shared<rclcpp::Node>("effort_test_node");
 
   auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
-    "/effort_controllers/commands", 10);
+    "/effort_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 

diff --git a/ign_ros2_control_demos/launch/cart_example_effort.launch.py b/ign_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -66,8 +66,8 @@ def generate_launch_description():
         output='screen'
     )
 
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
+    load_joint_effort_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'],
         output='screen'
     )
 
@@ -87,7 +87,7 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=load_joint_state_broadcaster,
-                on_exit=[load_joint_trajectory_controller],
+                on_exit=[load_joint_effort_controller],
             )
         ),
         node_robot_state_publisher,