Added controller manager xml argument

doc/index.rst

@@ -147,6 +147,7 @@ robot hardware interfaces between *ros2_control* and Gazebo Classic.
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
         <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
+        <controller_manager_name>simulation_controller_manager</controller_manager_name>
       </plugin>
   </gazebo>
 
@@ -156,6 +157,7 @@ The *gazebo_ros2_control* ``<plugin>`` tag also has the following optional child
 * ``<robot_param_node>``: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher``
 * ``<parameters>``: YAML file with the configuration of the controllers
 * ``<hold_joints>``: if set to true (default), it will hold the joints' position if their interface was not claimed, e.g., the controller hasn't been activated yet.
+* ``<controller_manager_name>``: Set controller manager name (default: ``controller_manager``)
 
 Default gazebo_ros2_control Behavior
 -----------------------------------------------------------

gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp

@@ -189,6 +189,13 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
       sdf->GetElement("hold_joints")->Get<bool>();
   }
 
+  // Get controller manager node name
+  std::string controllerManagerNodeName{"controller_manager"};
+
+  if (sdf->HasElement("controller_manager_name")) {
+    controllerManagerNodeName = sdf->GetElement("controller_manager_name")->Get<std::string>();
+  }
+
   // There's currently no direct way to set parameters to the plugin's node
   // So we have to parse the plugin file manually and set it to the node's context.
   auto rcl_context = impl_->model_nh_->get_node_base_interface()->get_context()->get_rcl_context();
@@ -360,7 +367,7 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
     new controller_manager::ControllerManager(
       std::move(resource_manager_),
       impl_->executor_,
-      "controller_manager",
+      controllerManagerNodeName,
       impl_->model_nh_->get_namespace()));
   impl_->executor_->add_node(impl_->controller_manager_);