Add remap option to controller manager

ros-controls · Nov 29, 2024 · 4a3c7a5 · 4a3c7a5
1 parent c781b7b
commit 4a3c7a5
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -437,6 +437,10 @@ void GazeboSimROS2ControlPlugin::Configure(
   // Create the controller manager
   RCLCPP_INFO(this->dataPtr->node_->get_logger(), "Loading controller_manager");
   rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
+  arguments.push_back("-r");
+  arguments.push_back("__node:=" + controllerManagerNodeName);
+  arguments.push_back("-r");
+  arguments.push_back("__ns:=" + ns);
   options.arguments(arguments);
   this->dataPtr->controller_manager_.reset(
     new controller_manager::ControllerManager(