Use the urdf_ member for _Jazzy_

fzi-forschungszentrum-informatik · Oct 20, 2024 · b3a12c5 · b3a12c5
1 parent 106e3a8
commit b3a12c5
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Showing 3 changed files with 8 additions and 3 deletions.
diff --git a/cartesian_controller_base/include/cartesian_controller_base/ROS2VersionConfig.h.in b/cartesian_controller_base/include/cartesian_controller_base/ROS2VersionConfig.h.in
@@ -1,7 +1,7 @@
 // Cmake will update these defines depending on our current ROS_DISTRO.
 // We use this mechanism to react to API changes in ROS2-control.
 //
-#cmakedefine CARTESIAN_CONTROLLERS_FOXY
-#cmakedefine CARTESIAN_CONTROLLERS_GALACTIC
+
 #cmakedefine CARTESIAN_CONTROLLERS_HUMBLE
 #cmakedefine CARTESIAN_CONTROLLERS_IRON
+#cmakedefine CARTESIAN_CONTROLLERS_JAZZY
diff --git a/cartesian_controller_base/src/cartesian_controller_base.cpp b/cartesian_controller_base/src/cartesian_controller_base.cpp
@@ -131,7 +131,12 @@ CartesianControllerBase::on_configure(const rclcpp_lifecycle::State & previous_s
   urdf::Model robot_model;
   KDL::Tree robot_tree;
 
+#if defined CARTESIAN_CONTROLLERS_JAZZY
+  m_robot_description = this->get_robot_description();
+#else
   m_robot_description = get_node()->get_parameter("robot_description").as_string();
+#endif
+
   if (m_robot_description.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "robot_description is empty");

diff --git a/cartesian_controller_simulation/launch/simulation.launch.py b/cartesian_controller_simulation/launch/simulation.launch.py
@@ -90,7 +90,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_controllers],
+        parameters=[robot_description, robot_controllers],
         # prefix="screen -d -m gdb -command=/home/stefan/.gdb_debug_config --ex run --args",  # noqa E501
         output="both",
         remappings=[