added generic rrbot configuration file to use with controller spawning

ros-controls · Oct 10, 2024 · d8ec082 · d8ec082
1 parent 747a481
commit d8ec082
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Showing 4 changed files with 28 additions and 48 deletions.
diff --git a/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml b/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml
diff --git a/...ntroller_manager_rrbot_1_controllers.yaml → ...er_manager_rrbot_generic_controllers.yaml b/...ntroller_manager_rrbot_1_controllers.yaml → ...er_manager_rrbot_generic_controllers.yaml
@@ -1,21 +1,41 @@
-/rrbot_1/controller_manager:
+/**/controller_manager:
   ros__parameters:
     update_rate: 10  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 
-/rrbot_1/forward_position_controller:
+/**/forward_position_controller:
   ros__parameters:
     type: forward_command_controller/ForwardCommandController
+    interface_name: position
+
+/rrbot_1/forward_position_controller:
+  ros__parameters:
     joints:
       - rrbot_1_joint1
       - rrbot_1_joint2
-    interface_name: position
 
+/rrbot_2/forward_position_controller:
+  ros__parameters:
+    joints:
+      - rrbot_2_joint1
+      - rrbot_2_joint2
 
 /rrbot_1/position_trajectory_controller:
+  ros__parameters:
+    joints:
+      - rrbot_1_joint1
+      - rrbot_1_joint2
+
+/rrbot_2/position_trajectory_controller:
+  ros__parameters:
+    joints:
+      - rrbot_2_joint1
+      - rrbot_2_joint2
+
+/**/position_trajectory_controller:
   ros__parameters:
     type: joint_trajectory_controller/JointTrajectoryController
     joints:

diff --git a/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py b/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
@@ -76,7 +76,7 @@ def generate_launch_description():
             "description_package": "ros2_control_demo_example_1",
             "description_file": "rrbot.urdf.xacro",
             "runtime_config_package": "ros2_control_demo_example_15",
-            "controllers_file": "multi_controller_manager_rrbot_1_controllers.yaml",
+            "controllers_file": "multi_controller_manager_rrbot_generic_controllers.yaml",
             "prefix": "rrbot_1_",
             "use_mock_hardware": use_mock_hardware,
             "mock_sensor_commands": mock_sensor_commands,
@@ -99,7 +99,7 @@ def generate_launch_description():
                 [
                     FindPackageShare("ros2_control_demo_example_15"),
                     "config",
-                    "multi_controller_manager_rrbot_1_controllers.yaml",
+                    "multi_controller_manager_rrbot_generic_controllers.yaml",
                 ]
             ),
         ],
@@ -112,7 +112,7 @@ def generate_launch_description():
             "description_package": "ros2_control_demo_example_5",
             "description_file": "rrbot_system_with_external_sensor.urdf.xacro",
             "runtime_config_package": "ros2_control_demo_example_15",
-            "controllers_file": "multi_controller_manager_rrbot_2_controllers.yaml",
+            "controllers_file": "multi_controller_manager_rrbot_generic_controllers.yaml",
             "prefix": "rrbot_2_",
             "use_mock_hardware": use_mock_hardware,
             "mock_sensor_commands": mock_sensor_commands,
@@ -135,7 +135,7 @@ def generate_launch_description():
                 [
                     FindPackageShare("ros2_control_demo_example_15"),
                     "config",
-                    "multi_controller_manager_rrbot_2_controllers.yaml",
+                    "multi_controller_manager_rrbot_generic_controllers.yaml",
                 ]
             ),
         ],

diff --git a/example_15/doc/userdoc.rst b/example_15/doc/userdoc.rst
@@ -80,8 +80,7 @@ Scenario: Using multiple controller managers on the same machine
 
 * Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
 * Controllers yaml:
-  - `multi_controller_manager_rrbot_1_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml>`__
-  - `multi_controller_manager_rrbot_2_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml>`__
+  - `multi_controller_manager_generic_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_generic_controllers.yaml>`__
 * URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
 
   * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__