moved controller config for standalone URDF use

lbr_bringup/doc/lbr_bringup.rst

@@ -183,5 +183,5 @@ Troubleshooting
 ---------------
 Noisy Execution
 ~~~~~~~~~~~~~~~
-- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`. 
+- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`. 
 - Realtime priority: Set real time priority in ``code /etc/security/limits.conf``, add the line: ``user - rtprio 99``, where user is your username.

lbr_bringup/launch/gazebo.launch.py

@@ -13,7 +13,7 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     ld.add_action(
         LBRROS2ControlMixin.arg_ctrl()
-    )  # Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_ros2_control/config/lbr_controllers.yaml
+    )  # Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_description/config/lbr_controllers.yaml
 
     # static transform world -> <robot_name>_floating_link
     world_robot_tf = [0, 0, 0, 0, 0, 0]  # keep zero

lbr_bringup/lbr_bringup/ros2_control.py

@@ -11,7 +11,7 @@ class LBRROS2ControlMixin:
     def arg_ctrl_cfg_pkg() -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="ctrl_cfg_pkg",
-            default_value="lbr_ros2_control",
+            default_value="lbr_description",
             description="Controller configuration package. The package containing the ctrl_cfg.",
         )
 

lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst

@@ -8,14 +8,18 @@ lbr_demos_advanced_cpp
    :local:
    :backlinks: none
 
+Twist Controller
+----------------
+TODO
+
 Admittance Controller
 ---------------------
 This demo implements a simple admittance controller.
 
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -56,7 +60,7 @@ kinematics to move the robot's end-effector along the z-axis in Cartesian space.
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 

lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst

@@ -15,7 +15,7 @@ This demo implements a simple admittance controller.
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -55,7 +55,7 @@ This demo implements an admittance controller with a remote center of motion (RC
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 

lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst

@@ -15,7 +15,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -73,7 +73,7 @@ Hardware
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -97,7 +97,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -135,7 +135,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 

lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst

@@ -15,7 +15,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -73,7 +73,7 @@ Hardware
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -97,7 +97,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -135,7 +135,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 

lbr_demos/lbr_moveit/doc/lbr_moveit.rst

@@ -63,7 +63,7 @@ MoveIt Servo - Hardware
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 
@@ -123,7 +123,7 @@ MoveIt via RViz - Hardware
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 

lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst

@@ -42,7 +42,7 @@ Hardware
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
-    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
 

lbr_description/gazebo/lbr_gazebo.xacro

@@ -6,7 +6,7 @@
         <gazebo>
             <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin"
                 filename="gz_ros2_control-system">
-                <parameters>$(find lbr_ros2_control)/config/lbr_controllers.yaml</parameters>
+                <parameters>$(find lbr_description)/config/lbr_controllers.yaml</parameters>
                 <ros>
                     <namespace>/${robot_name}</namespace>
                 </ros>

lbr_moveit_config/doc/lbr_moveit_config.rst

@@ -90,7 +90,7 @@ This procedure applies to all LBRs: ``iiwa7``, ``iiwa14``, ``med7``, and ``med14
 
     #. In the `move_group.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_moveit_config/iiwa7_moveit_config/launch/move_group.launch.py>`_:octicon:`link-external` use the robot descriotion from ``lbr_description``
 
-    #. In `moveit_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml>`_:octicon:`link-external` change the ``arm_controller`` to ``joint_trajectory_controller``, as in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external` 
+    #. In `moveit_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml>`_:octicon:`link-external` change the ``arm_controller`` to ``joint_trajectory_controller``, as in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external` 
 
 Update MoveIt Configuration 
 ---------------------------

lbr_ros2_control/doc/lbr_ros2_control.rst

@@ -30,7 +30,7 @@ Hardware components and controllers are loaded as plugins (components) by the ``
 The ``controller_manager::ControllerManager`` has a node, the `controller_manager <https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/ros2_control_node.cpp>`_:octicon:`link-external`. 
 
 - Hardware plugins are read from the ``robot_descritption`` parameter of the ``robot_state_publisher`` node and loaded at runtime.
-- Parameters, such as ``update_rate``, the configured controllers, are simply set as node parameters, see e.g. `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`.
+- Parameters, such as ``update_rate``, the configured controllers, are simply set as node parameters, see e.g. `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/config/lbr_controllers.yaml>`_:octicon:`link-external`.
 
 Hardware Plugin
 ---------------