Use spawner instead of cli verbs

ros-controls · Aug 23, 2024 · 30bad12 · 30bad12
1 parent cbdd3a3
commit 30bad12
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Showing 20 changed files with 282 additions and 180 deletions.
diff --git a/gz_ros2_control_demos/config/ackermann_drive_controller.yaml b/gz_ros2_control_demos/config/ackermann_drive_controller.yaml
@@ -5,12 +5,9 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-
-    ackermann_steering_controller:
-      type: 'ackermann_steering_controller/AckermannSteeringController'
-
 ackermann_steering_controller:
   ros__parameters:
+    type: 'ackermann_steering_controller/AckermannSteeringController'
     wheelbase: 1.7
     front_wheel_track: 1.0
     rear_wheel_track: 1.0

diff --git a/gz_ros2_control_demos/config/cart_controller_effort.yaml b/gz_ros2_control_demos/config/cart_controller_effort.yaml
@@ -2,13 +2,11 @@ controller_manager:
   ros__parameters:
     update_rate: 1000  # Hz
 
-    effort_controller:
-      type: effort_controllers/JointGroupEffortController
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 effort_controller:
   ros__parameters:
+    type: effort_controllers/JointGroupEffortController
     joints:
       - slider_to_cart
diff --git a/gz_ros2_control_demos/config/cart_controller_position.yaml b/gz_ros2_control_demos/config/cart_controller_position.yaml
@@ -2,14 +2,12 @@ controller_manager:
   ros__parameters:
     update_rate: 1000  # Hz
 
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 joint_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - slider_to_cart
     command_interfaces:

diff --git a/gz_ros2_control_demos/config/cart_controller_velocity.yaml b/gz_ros2_control_demos/config/cart_controller_velocity.yaml
@@ -2,21 +2,16 @@ controller_manager:
   ros__parameters:
     update_rate: 1000  # Hz
 
-    velocity_controller:
-      type: velocity_controllers/JointGroupVelocityController
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    imu_sensor_broadcaster:
-      type: imu_sensor_broadcaster/IMUSensorBroadcaster
-
 velocity_controller:
   ros__parameters:
     joints:
       - slider_to_cart
 
 imu_sensor_broadcaster:
   ros__parameters:
+    type: imu_sensor_broadcaster/IMUSensorBroadcaster
     sensor_name: cart_imu_sensor
     frame_id: imu
diff --git a/gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml b/gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml
@@ -5,11 +5,9 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    diff_drive_base_controller:
-      type: diff_drive_controller/DiffDriveController
-
 diff_drive_base_controller:
   ros__parameters:
+    type: diff_drive_controller/DiffDriveController
     left_wheel_names: ["left_wheel_joint"]
     right_wheel_names: ["right_wheel_joint"]
 

diff --git a/gz_ros2_control_demos/config/gripper_controller_effort.yaml b/gz_ros2_control_demos/config/gripper_controller_effort.yaml
@@ -2,14 +2,12 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    gripper_controller:
-      type: forward_command_controller/ForwardCommandController
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 gripper_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - right_finger_joint
     interface_name: effort
diff --git a/gz_ros2_control_demos/config/gripper_controller_position.yaml b/gz_ros2_control_demos/config/gripper_controller_position.yaml
@@ -2,14 +2,12 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    gripper_controller:
-      type: forward_command_controller/ForwardCommandController
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 gripper_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - right_finger_joint
     interface_name: position
diff --git a/gz_ros2_control_demos/config/tricycle_drive_controller.yaml b/gz_ros2_control_demos/config/tricycle_drive_controller.yaml
@@ -2,18 +2,15 @@ controller_manager:
   ros__parameters:
     update_rate: 50 # Hz
 
-    tricycle_controller:
-      type: tricycle_controller/TricycleController
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
 joint_state_broadcaster:
   ros__parameters:
+    type: joint_state_broadcaster/JointStateBroadcaster
     extra_joints: ["right_wheel_joint", "left_wheel_joint"]
 
 tricycle_controller:
   ros__parameters:
+    type: tricycle_controller/TricycleController
+
     # Model
     traction_joint_name: traction_joint # Name of traction joint in URDF
     steering_joint_name: steering_joint # Name of steering joint in URDF

diff --git a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -39,6 +39,13 @@ def generate_launch_description():
         ]
     )
     robot_description = {'robot_description': robot_description_content}
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare('gz_ros2_control_demos'),
+            'config',
+            'ackermann_drive_controller.yaml',
+        ]
+    )
 
     node_robot_state_publisher = Node(
         package='robot_state_publisher',
@@ -55,16 +62,18 @@ def generate_launch_description():
                    'ackermann', '-allow_renaming', 'true'],
     )
 
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_state_broadcaster'],
-        output='screen'
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=['joint_state_broadcaster'],
     )
-
-    load_ackermann_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'ackermann_steering_controller'],
-        output='screen'
+    ackermann_steering_controller_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=['ackermann_steering_controller',
+                   '--param-file',
+                   robot_controllers,
+                   ],
     )
 
     # Bridge
@@ -87,13 +96,13 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
-                on_exit=[load_joint_state_broadcaster],
+                on_exit=[joint_state_broadcaster_spawner],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_broadcaster,
-                on_exit=[load_ackermann_controller],
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[ackermann_steering_controller_spawner],
             )
         ),
         node_robot_state_publisher,

diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -39,6 +39,13 @@ def generate_launch_description():
         ]
     )
     robot_description = {'robot_description': robot_description_content}
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare('gz_ros2_control_demos'),
+            'config',
+            'cart_controller_effort.yaml',
+        ]
+    )
 
     node_robot_state_publisher = Node(
         package='robot_state_publisher',
@@ -55,16 +62,19 @@ def generate_launch_description():
                    '-name', 'cart', '-allow_renaming', 'true'],
     )
 
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_state_broadcaster'],
-        output='screen'
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=['joint_state_broadcaster'],
     )
-
-    load_joint_effort_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller',
-             '--set-state', 'active', 'effort_controller'],
-        output='screen'
+    effort_controller_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'effort_controller',
+            '--param-file',
+            robot_controllers,
+            ],
     )
 
     return LaunchDescription([
@@ -78,13 +88,13 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
-                on_exit=[load_joint_state_broadcaster],
+                on_exit=[joint_state_broadcaster_spawner],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_broadcaster,
-                on_exit=[load_joint_effort_controller],
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[effort_controller_spawner],
             )
         ),
         node_robot_state_publisher,

diff --git a/gz_ros2_control_demos/launch/cart_example_position.launch.py b/gz_ros2_control_demos/launch/cart_example_position.launch.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -39,6 +39,13 @@ def generate_launch_description():
         ]
     )
     robot_description = {'robot_description': robot_description_content}
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare('gz_ros2_control_demos'),
+            'config',
+            'cart_controller_position.yaml',
+        ]
+    )
 
     node_robot_state_publisher = Node(
         package='robot_state_publisher',
@@ -55,16 +62,19 @@ def generate_launch_description():
                    '-name', 'cart', '-allow_renaming', 'true'],
     )
 
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_state_broadcaster'],
-        output='screen'
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=['joint_state_broadcaster'],
     )
-
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_trajectory_controller'],
-        output='screen'
+    joint_trajectory_controller_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'joint_trajectory_controller',
+            '--param-file',
+            robot_controllers,
+            ],
     )
 
     return LaunchDescription([
@@ -78,13 +88,13 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
-                on_exit=[load_joint_state_broadcaster],
+                on_exit=[joint_state_broadcaster_spawner],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_broadcaster,
-                on_exit=[load_joint_trajectory_controller],
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[joint_trajectory_controller_spawner],
             )
         ),
         node_robot_state_publisher,