Use the urdf_ member for _Jazzy_

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

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");

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=[

cartesian_controller_tests/integration_tests/integration_tests.py

@@ -7,7 +7,6 @@
 from launch.substitutions import PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
-import os
 import time
 import rclpy
 from rclpy.node import Node
@@ -16,8 +15,6 @@
 from geometry_msgs.msg import PoseStamped
 from geometry_msgs.msg import WrenchStamped
 
-distro = os.environ["ROS_DISTRO"]
-
 
 def generate_test_description():
     setup = IncludeLaunchDescription(
@@ -118,10 +115,7 @@ def test_invalid_controller_initialization(self):
         controller manager contains our controllers and if they have the
         expected state.
         """
-        if os.environ["ROS_DISTRO"] == "humble" or os.environ["ROS_DISTRO"] == "iron":
-            expected_state = "unconfigured"
-        else:  # galactic, foxy
-            expected_state = "finalized"
+        expected_state = "unconfigured"
         for name in self.invalid_controllers:
             self.assertTrue(
                 self.check_state(name, expected_state),
@@ -215,19 +209,13 @@ def check_state(self, controller, state):
     def start_controller(self, controller):
         """Start the given controller"""
         req = SwitchController.Request()
-        if distro in ["humble", "iron"]:
-            req.activate_controllers = [controller]
-        else:
-            req.start_controllers = [controller]
+        req.activate_controllers = [controller]
         self.perform_switch(req)
 
     def stop_controller(self, controller):
         """Stop the given controller"""
         req = SwitchController.Request()
-        if distro in ["humble", "iron"]:
-            req.deactivate_controllers = [controller]
-        else:
-            req.stop_controllers = [controller]
+        req.deactivate_controllers = [controller]
         self.perform_switch(req)
 
     def perform_switch(self, req):