Rename cartpole with cart (ros-controls#214)

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]>
a2s-institute · Jan 3, 2024 · 7e388fa · 7e388fa
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Showing 14 changed files with 17 additions and 47 deletions.
diff --git a/doc/index.rst b/doc/index.rst
@@ -146,7 +146,7 @@ robot hardware interfaces between *ros2_control* and Gazebo.
       <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+        <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       </plugin>
   </gazebo>
 
@@ -201,32 +201,18 @@ and use the tag ``<controller_manager_prefix_node_name>`` to set the controller
 
   <gazebo>
     <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       <controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
     </plugin>
   <gazebo>
 
-This controller publishes the state of all resources registered to a
-``hardware_interface::StateInterface`` to a topic of type ``sensor_msgs/msg/JointState``.
-The following is a basic configuration of the controller.
+The following is a basic configuration of the controllers:
 
-.. code-block:: yaml
+- ``joint_state_broadcaster``: This controller publishes the state of all resources registered to a ``hardware_interface::StateInterface`` to a topic of type ``sensor_msgs/msg/JointState``.
+- ``joint_trajectory_controller``: This controller creates an action called ``/joint_trajectory_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
 
-  joint_state_controller:
-    ros__parameters:
-      type: joint_state_controller/JointStateController
-
-This controller creates an action called ``/cart_pole_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
-
-.. code-block:: yaml
-
-  cart_pole_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - slider_to_cart
-      write_op_modes:
-        - slider_to_cart
+.. literalinclude:: ../gz_ros2_control_demos/config/cart_controller_position.yaml
+   :language: yaml
 
 
 gz_ros2_control_demos

diff --git a/...os/config/cartpole_controller_effort.yaml → ..._demos/config/cart_controller_effort.yaml b/...os/config/cartpole_controller_effort.yaml → ..._demos/config/cart_controller_effort.yaml
diff --git a/.../config/cartpole_controller_position.yaml → ...emos/config/cart_controller_position.yaml b/.../config/cartpole_controller_position.yaml → ...emos/config/cart_controller_position.yaml
diff --git a/.../config/cartpole_controller_velocity.yaml → ...emos/config/cart_controller_velocity.yaml b/.../config/cartpole_controller_velocity.yaml → ...emos/config/cart_controller_velocity.yaml
diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 

diff --git a/gz_ros2_control_demos/launch/cart_example_position.launch.py b/gz_ros2_control_demos/launch/cart_example_position.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 

diff --git a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 

diff --git a/gz_ros2_control_demos/launch/diff_drive_example.launch.py b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'diff_drive',
                    '-allow_renaming', 'true'],
     )
 

diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'tricyle',
                    '-allow_renaming', 'true'],
     )
 

diff --git a/gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf b/gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -83,7 +79,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller_effort.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf b/gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -95,7 +91,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller_position.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf b/gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -166,7 +162,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller_velocity.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
     </plugin>
     <plugin
       filename="ignition-sim-imu-system"

diff --git a/gz_ros2_control_tests/tests/position_test.py b/gz_ros2_control_tests/tests/position_test.py
@@ -77,7 +77,7 @@ def generate_test_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 

diff --git a/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf b/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -95,7 +91,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_tests)/config/cartpole_controller_position.yaml</parameters>
+      <parameters>$(find gz_ros2_control_tests)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>