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Added generic rrbot configuration file to use with controller spawning #599

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merged 4 commits into from
Oct 17, 2024
Merged

Added generic rrbot configuration file to use with controller spawning #599

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8f3eecd
added generic rrbot configuration file to use with controller spawning
saikishor Oct 10, 2024
c0434cc
Test with changes
christophfroehlich Oct 13, 2024
b47e8fb
Update ros2_control_demos-not-released.rolling.repos
christophfroehlich Oct 17, 2024
a261686
Merge branch 'master' into add/wildcard_entries_example
christophfroehlich Oct 17, 2024
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39 changes: 0 additions & 39 deletions example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml
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25 changes: 21 additions & 4 deletions ...ntroller_manager_rrbot_1_controllers.yaml → ...er_manager_rrbot_generic_controllers.yaml
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Original file line number Diff line number Diff line change
@@ -1,27 +1,44 @@
/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:
type: joint_trajectory_controller/JointTrajectoryController
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

command_interfaces:
- position

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8 changes: 4 additions & 4 deletions example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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",
]
),
],
Expand All @@ -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,
Expand All @@ -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",
]
),
],
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3 changes: 1 addition & 2 deletions example_15/doc/userdoc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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>`__
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