Fix launch scripts for Iron

We need a distinction between *humble*, *iron*, and the other versions
at several places.
Also use a convenience function for constructing the many spawners.

cartesian_controller_simulation/launch/simulation.launch.py

@@ -45,7 +45,7 @@
 
 import os
 distro = os.environ['ROS_DISTRO']
-if distro == 'iron' or distro == 'humble' or distro == 'galactic':
+if distro in ['galactic', 'humble', 'iron']:
     spawner = "spawner"
 else:  # foxy
     spawner = "spawner.py"
@@ -98,47 +98,35 @@ def generate_launch_description():
             ]
     )
 
-    # Joint states
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-    cartesian_compliance_controller_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["cartesian_compliance_controller", "--stopped", "-c", "/controller_manager"],
-    )
-    cartesian_force_controller_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["cartesian_force_controller", "--stopped", "-c", "/controller_manager"],
-    )
-    cartesian_motion_controller_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["cartesian_motion_controller", "--stopped", "-c", "/controller_manager"],
-    )
-    motion_control_handle_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["motion_control_handle", "--stopped", "-c", "/controller_manager"],
-    )
-    joint_trajectory_controller_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["joint_trajectory_controller", "--stopped", "-c", "/controller_manager"],
-    )
-    invalid_cartesian_compliance_controller_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["invalid_cartesian_compliance_controller", "--stopped", "-c", "/controller_manager"],
-    )
-    invalid_cartesian_force_controller_spawner = Node(
-        package="controller_manager",
-        executable=spawner,
-        arguments=["invalid_cartesian_force_controller", "--stopped", "-c", "/controller_manager"],
-    )
+    # Convenience function for easy spawner construction
+    def controller_spawner(name, *args):
+        return Node(
+            package="controller_manager",
+            executable=spawner,
+            output="screen",
+            arguments=[name] + [a for a in args],
+        )
+
+    # Active controllers
+    active_list = [
+        "joint_state_broadcaster",
+    ]
+    active_spawners = [controller_spawner(controller) for controller in active_list]
+
+    # Inactive controllers
+    inactive_list = [
+        "cartesian_compliance_controller",
+        "cartesian_force_controller",
+        "cartesian_motion_controller",
+        "motion_control_handle",
+        "joint_trajectory_controller",
+        "invalid_cartesian_compliance_controller",
+        "invalid_cartesian_force_controller",
+    ]
+    state = "--inactive" if distro in ['humble', 'iron'] else "--stopped"
+    inactive_spawners = [
+        controller_spawner(controller, state) for controller in inactive_list
+    ]
 
     # TF tree
     robot_state_publisher = Node(
@@ -161,18 +149,10 @@ def generate_launch_description():
     )
 
     # Nodes to start
-    nodes = [
-        control_node,
-        joint_state_broadcaster_spawner,
-        cartesian_compliance_controller_spawner,
-        cartesian_force_controller_spawner,
-        cartesian_motion_controller_spawner,
-        motion_control_handle_spawner,
-        joint_trajectory_controller_spawner,
-        invalid_cartesian_compliance_controller_spawner,
-        invalid_cartesian_force_controller_spawner,
-        robot_state_publisher,
-        rviz
-    ]
+    nodes = (
+        [control_node, robot_state_publisher, rviz]
+        + active_spawners
+        + inactive_spawners
+    )
 
     return LaunchDescription(declared_arguments + nodes)

cartesian_controller_tests/integration_tests/integration_tests.py

@@ -18,6 +18,9 @@
 from geometry_msgs.msg import PoseStamped
 from geometry_msgs.msg import WrenchStamped
 
+import os
+
+distro = os.environ['ROS_DISTRO']
 
 def generate_test_description():
 
@@ -181,13 +184,19 @@ def check_state(self, controller, state):
     def start_controller(self, controller):
         """ Start the given controller """
         req = SwitchController.Request()
-        req.start_controllers = [controller]
+        if distro in ['humble', 'iron']:
+            req.activate_controllers = [controller]
+        else:
+            req.start_controllers = [controller]
         self.perform_switch(req)
 
     def stop_controller(self, controller):
         """ Stop the given controller """
         req = SwitchController.Request()
-        req.stop_controllers = [controller]
+        if distro in ['humble', 'iron']:
+            req.deactivate_controllers = [controller]
+        else:
+            req.stop_controllers = [controller]
         self.perform_switch(req)
 
     def perform_switch(self, req):