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Use new spawner option for ros args #577

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Use new spawner option for ros args #577

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8a61ccd
Use new spawner option for ros args
christophfroehlich Aug 23, 2024
130539e
Remove old code
christophfroehlich Aug 23, 2024
850cc24
Merge branch 'master' into remap_topics
saikishor Sep 11, 2024
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11 changes: 7 additions & 4 deletions example_11/bringup/launch/carlikebot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,9 +77,6 @@ def generate_launch_description():
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("/bicycle_steering_controller/tf_odometry", "/tf"),
],
condition=IfCondition(remap_odometry_tf),
)
control_node = Node(
Expand Down Expand Up @@ -114,7 +111,13 @@ def generate_launch_description():
robot_bicycle_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["bicycle_steering_controller", "--param-file", robot_controllers],
arguments=[
"bicycle_steering_controller",
"--param-file",
robot_controllers,
"--controller-ros-args",
"-r /bicycle_steering_controller/tf_odometry:=/tf",
],
)

# Delay rviz start after `joint_state_broadcaster`
Expand Down
16 changes: 8 additions & 8 deletions example_15/bringup/launch/rrbot_namespace.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,13 +69,6 @@ def generate_launch_description():
executable="ros2_control_node",
namespace="/rrbot",
parameters=[robot_description, robot_controllers],
remappings=[
(
# we use the remapping from a relative name to FQN /position_commands
"forward_position_controller/commands",
"/position_commands",
),
],
output={
"stdout": "screen",
"stderr": "screen",
Expand Down Expand Up @@ -108,7 +101,14 @@ def generate_launch_description():
package="controller_manager",
executable="spawner",
namespace="rrbot",
arguments=["forward_position_controller", "--param-file", robot_controllers],
arguments=[
"forward_position_controller",
"--param-file",
robot_controllers,
# we use the remapping from a relative name to FQN /position_commands
"--controller-ros-args",
"-r forward_position_controller/commands:=/position_commands",
],
)

robot_position_trajectory_controller_spawner = Node(
Expand Down
11 changes: 7 additions & 4 deletions example_2/bringup/launch/diffbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,6 @@ def generate_launch_description():
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
],
)
robot_state_pub_node = Node(
package="robot_state_publisher",
Expand All @@ -103,7 +100,13 @@ def generate_launch_description():
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["diffbot_base_controller", "--param-file", robot_controllers],
arguments=[
"diffbot_base_controller",
"--param-file",
robot_controllers,
"--controller-ros-args",
"-r /diffbot_base_controller/cmd_vel:=/cmd_vel",
],
)

# Delay rviz start after `joint_state_broadcaster`
Expand Down
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