From 549461676e53b43552dd9eef3ec1a3dda3d78305 Mon Sep 17 00:00:00 2001
From: mhubii <m.huber_1994@hotmail.de>
Date: Tue, 5 Dec 2023 19:51:55 +0000
Subject: [PATCH] removed ros2_control configs from lbr_description

---
 lbr_bringup/doc/lbr_bringup.rst                             | 2 +-
 lbr_description/CMakeLists.txt                              | 2 +-
 lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro   | 2 +-
 lbr_description/urdf/iiwa7/iiwa7_description.urdf.xacro     | 2 +-
 lbr_description/urdf/med14/med14_description.urdf.xacro     | 2 +-
 lbr_description/urdf/med7/med7_description.urdf.xacro       | 2 +-
 lbr_ros2_control/CMakeLists.txt                             | 6 +++---
 .../config/lbr_system_interface.xacro                       | 0
 .../{ => plugin_description_files}/broadcasters.xml         | 0
 .../forward_command_controllers.xml                         | 0
 .../{ => plugin_description_files}/system_interface.xml     | 0
 lbr_ros2_control/src/system_interface.cpp                   | 4 ++--
 12 files changed, 11 insertions(+), 11 deletions(-)
 rename lbr_description/ros2_control/lbr.ros2_control.xacro => lbr_ros2_control/config/lbr_system_interface.xacro (100%)
 rename lbr_ros2_control/{ => plugin_description_files}/broadcasters.xml (100%)
 rename lbr_ros2_control/{ => plugin_description_files}/forward_command_controllers.xml (100%)
 rename lbr_ros2_control/{ => plugin_description_files}/system_interface.xml (100%)

diff --git a/lbr_bringup/doc/lbr_bringup.rst b/lbr_bringup/doc/lbr_bringup.rst
index 7099ea30..ff1b15f5 100644
--- a/lbr_bringup/doc/lbr_bringup.rst
+++ b/lbr_bringup/doc/lbr_bringup.rst
@@ -57,7 +57,7 @@ and select:
 
 Make sure that the ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_ is greater or equal ``100`` (``FRI send period``).
 
-For using other ``FRI send period``, also change the ``sample_time`` in the `lbr.ros2_control.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_description/ros2_control/lbr.ros2_control.xacro>`_ (automated in the future).
+For using other ``FRI send period``, also change the ``sample_time`` in the `lbr_system_interface.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_system_interface.xacro>`_ (automated in the future).
 
 Standalone Launch
 -----------------
diff --git a/lbr_description/CMakeLists.txt b/lbr_description/CMakeLists.txt
index e0e2319d..664aab8e 100644
--- a/lbr_description/CMakeLists.txt
+++ b/lbr_description/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(ament_cmake_python REQUIRED)
 
 # install
 install(
-  DIRECTORY config gazebo launch meshes ros2_control urdf
+  DIRECTORY config gazebo launch meshes urdf
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
index 719ca2df..b66514ac 100644
--- a/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
@@ -24,7 +24,7 @@
 
     <!-- includes -->
     <xacro:include filename="$(find lbr_description)/gazebo/lbr.gazebo.xacro" />
-    <xacro:include filename="$(find lbr_description)/ros2_control/lbr.ros2_control.xacro" />
+    <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
 
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="iiwa14"
diff --git a/lbr_description/urdf/iiwa7/iiwa7_description.urdf.xacro b/lbr_description/urdf/iiwa7/iiwa7_description.urdf.xacro
index db3e5645..4fc5af89 100644
--- a/lbr_description/urdf/iiwa7/iiwa7_description.urdf.xacro
+++ b/lbr_description/urdf/iiwa7/iiwa7_description.urdf.xacro
@@ -24,7 +24,7 @@
 
     <!-- includes -->
     <xacro:include filename="$(find lbr_description)/gazebo/lbr.gazebo.xacro" />
-    <xacro:include filename="$(find lbr_description)/ros2_control/lbr.ros2_control.xacro" />
+    <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
 
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="iiwa7"
diff --git a/lbr_description/urdf/med14/med14_description.urdf.xacro b/lbr_description/urdf/med14/med14_description.urdf.xacro
index 996d30d4..ade55874 100644
--- a/lbr_description/urdf/med14/med14_description.urdf.xacro
+++ b/lbr_description/urdf/med14/med14_description.urdf.xacro
@@ -24,7 +24,7 @@
 
     <!-- includes -->
     <xacro:include filename="$(find lbr_description)/gazebo/lbr.gazebo.xacro" />
-    <xacro:include filename="$(find lbr_description)/ros2_control/lbr.ros2_control.xacro" />
+    <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
 
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="med14"
diff --git a/lbr_description/urdf/med7/med7_description.urdf.xacro b/lbr_description/urdf/med7/med7_description.urdf.xacro
index adf0d22a..c0ee3fa0 100644
--- a/lbr_description/urdf/med7/med7_description.urdf.xacro
+++ b/lbr_description/urdf/med7/med7_description.urdf.xacro
@@ -24,7 +24,7 @@
 
     <!-- includes -->
     <xacro:include filename="$(find lbr_description)/gazebo/lbr.gazebo.xacro" />
-    <xacro:include filename="$(find lbr_description)/ros2_control/lbr.ros2_control.xacro" />
+    <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
 
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="med7"
diff --git a/lbr_ros2_control/CMakeLists.txt b/lbr_ros2_control/CMakeLists.txt
index 61f10e64..51ff75bf 100644
--- a/lbr_ros2_control/CMakeLists.txt
+++ b/lbr_ros2_control/CMakeLists.txt
@@ -72,9 +72,9 @@ target_link_libraries(${PROJECT_NAME}
   FRIClient::FRIClient
 )
 
-pluginlib_export_plugin_description_file(controller_interface broadcasters.xml)
-pluginlib_export_plugin_description_file(controller_interface forward_command_controllers.xml)
-pluginlib_export_plugin_description_file(hardware_interface system_interface.xml)
+pluginlib_export_plugin_description_file(controller_interface plugin_description_files/broadcasters.xml)
+pluginlib_export_plugin_description_file(controller_interface plugin_description_files/forward_command_controllers.xml)
+pluginlib_export_plugin_description_file(hardware_interface plugin_description_files/system_interface.xml)
 
 # Export for downstream usage, see https://docs.ros.org/en/foxy/Guides/Ament-CMake-Documentation.html
 ament_export_targets(
diff --git a/lbr_description/ros2_control/lbr.ros2_control.xacro b/lbr_ros2_control/config/lbr_system_interface.xacro
similarity index 100%
rename from lbr_description/ros2_control/lbr.ros2_control.xacro
rename to lbr_ros2_control/config/lbr_system_interface.xacro
diff --git a/lbr_ros2_control/broadcasters.xml b/lbr_ros2_control/plugin_description_files/broadcasters.xml
similarity index 100%
rename from lbr_ros2_control/broadcasters.xml
rename to lbr_ros2_control/plugin_description_files/broadcasters.xml
diff --git a/lbr_ros2_control/forward_command_controllers.xml b/lbr_ros2_control/plugin_description_files/forward_command_controllers.xml
similarity index 100%
rename from lbr_ros2_control/forward_command_controllers.xml
rename to lbr_ros2_control/plugin_description_files/forward_command_controllers.xml
diff --git a/lbr_ros2_control/system_interface.xml b/lbr_ros2_control/plugin_description_files/system_interface.xml
similarity index 100%
rename from lbr_ros2_control/system_interface.xml
rename to lbr_ros2_control/plugin_description_files/system_interface.xml
diff --git a/lbr_ros2_control/src/system_interface.cpp b/lbr_ros2_control/src/system_interface.cpp
index 3595feb5..6ba5a221 100644
--- a/lbr_ros2_control/src/system_interface.cpp
+++ b/lbr_ros2_control/src/system_interface.cpp
@@ -9,7 +9,7 @@ SystemInterface::on_init(const hardware_interface::HardwareInfo &system_info) {
     return ret;
   }
 
-  // parameters from lbr.ros2_control.xacro
+  // parameters from config/lbr_system_interface.xacro
   port_id_ = std::stoul(info_.hardware_parameters["port_id"]);
   info_.hardware_parameters["remote_host"] == "INADDR_ANY"
       ? remote_host_ = NULL
@@ -346,7 +346,7 @@ bool SystemInterface::verify_sensors_() {
     return false;
   }
 
-  // check all interfaces are defined in lbr.ros2_control.xacro
+  // check all interfaces are defined in config/lbr_system_interface.xacro
   const auto &lbr_fri_sensor = info_.sensors[0];
   if (lbr_fri_sensor.state_interfaces.size() != LBR_FRI_SENSOR_SIZE) {
     RCLCPP_ERROR(app_node_ptr_->get_logger(),