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Rename effort_controller
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christophfroehlich committed Sep 6, 2023
1 parent be016fc commit 9e96ce5
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Showing 3 changed files with 4 additions and 4 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,13 @@ controller_manager:
ros__parameters:
update_rate: 100 # Hz

effort_controllers:
effort_controller:
type: effort_controllers/JointGroupEffortController

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

effort_controllers:
effort_controller:
ros__parameters:
joints:
- slider_to_cart
2 changes: 1 addition & 1 deletion gazebo_ros2_control_demos/examples/example_effort.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ int main(int argc, char * argv[])
node = std::make_shared<rclcpp::Node>("effort_test_node");

auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
"/effort_controllers/commands", 10);
"/effort_controller/commands", 10);

RCLCPP_INFO(node->get_logger(), "node created");

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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ def generate_launch_description():
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'],
output='screen'
)

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