position_* -> joint_trajectory_controller

lbr-stack · Dec 6, 2023 · 5012ff2 · 5012ff2
1 parent a0ba50d
commit 5012ff2
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Showing 8 changed files with 14 additions and 14 deletions.
diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/src/joint_trajectory_executioner_node.cpp b/lbr_demos/lbr_demos_ros2_control_cpp/src/joint_trajectory_executioner_node.cpp
@@ -16,7 +16,7 @@ class LBRJointTrajectoryExecutionerNode : public rclcpp::Node {
 
     joint_trajectory_action_client_ =
         rclcpp_action::create_client<control_msgs::action::FollowJointTrajectory>(
-            this, "/lbr/position_trajectory_controller/follow_joint_trajectory");
+            this, "/lbr/joint_trajectory_controller/follow_joint_trajectory");
 
     while (!joint_trajectory_action_client_->wait_for_action_server(std::chrono::seconds(1))) {
       RCLCPP_INFO(this->get_logger(), "Waiting for action server to become available...");

diff --git a/...os_ros2_control_python/lbr_demos_ros2_control_python/joint_trajectory_executioner_node.py b/...os_ros2_control_python/lbr_demos_ros2_control_python/joint_trajectory_executioner_node.py
@@ -14,7 +14,7 @@ def __init__(
         self.joint_trajectory_action_client_ = ActionClient(
             node=self,
             action_type=FollowJointTrajectory,
-            action_name="/lbr/position_trajectory_controller/follow_joint_trajectory",
+            action_name="/lbr/joint_trajectory_controller/follow_joint_trajectory",
         )
         while not self.joint_trajectory_action_client_.wait_for_server(1):
             self.get_logger().info("Waiting for action server to become available...")

diff --git a/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
@@ -4,9 +4,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll
 
 moveit_simple_controller_manager:
   controller_names:
-    - position_trajectory_controller
+    - joint_trajectory_controller
 
-  position_trajectory_controller:
+  joint_trajectory_controller:
     type: FollowJointTrajectory
     action_ns: follow_joint_trajectory
     default: true

diff --git a/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
@@ -4,9 +4,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll
 
 moveit_simple_controller_manager:
   controller_names:
-    - position_trajectory_controller
+    - joint_trajectory_controller
 
-  position_trajectory_controller:
+  joint_trajectory_controller:
     type: FollowJointTrajectory
     action_ns: follow_joint_trajectory
     default: true

diff --git a/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
@@ -4,9 +4,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll
 
 moveit_simple_controller_manager:
   controller_names:
-    - position_trajectory_controller
+    - joint_trajectory_controller
 
-  position_trajectory_controller:
+  joint_trajectory_controller:
     type: FollowJointTrajectory
     action_ns: follow_joint_trajectory
     default: true

diff --git a/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
@@ -4,9 +4,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll
 
 moveit_simple_controller_manager:
   controller_names:
-    - position_trajectory_controller
+    - joint_trajectory_controller
 
-  position_trajectory_controller:
+  joint_trajectory_controller:
     type: FollowJointTrajectory
     action_ns: follow_joint_trajectory
     default: true

diff --git a/lbr_ros2_control/config/lbr_controllers.yaml b/lbr_ros2_control/config/lbr_controllers.yaml
@@ -16,7 +16,7 @@
       type: lbr_ros2_control/EstimatedFTBroadcaster
 
     # ROS 2 control controllers
-    position_trajectory_controller:
+    joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
     forward_position_controller:
@@ -33,7 +33,7 @@
   ros__parameters:
     damping: 0.2
 
-/**/position_trajectory_controller:
+/**/joint_trajectory_controller:
   ros__parameters:
     joints:
       - A1

diff --git a/lbr_ros2_control/lbr_ros2_control/launch_mixin.py b/lbr_ros2_control/lbr_ros2_control/launch_mixin.py
@@ -27,10 +27,10 @@ def arg_ctrl_cfg() -> DeclareLaunchArgument:
     def arg_ctrl() -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="ctrl",
-            default_value="position_trajectory_controller",
+            default_value="joint_trajectory_controller",
             description="Desired default controller. One of specified in ctrl_cfg.",
             choices=[
-                "position_trajectory_controller",
+                "joint_trajectory_controller",
                 "forward_position_controller",
                 "forward_lbr_position_command_controller",
                 "forward_lbr_torque_command_controller",