Add controller name parameter (#212)

Signed-off-by: Jakub Delicat <[email protected]>
ros-controls · Jan 3, 2024 · b77f972 · b77f972
1 parent e20382a
commit b77f972
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/ign_ros2_control/src/ign_ros2_control_plugin.cpp b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
@@ -286,6 +286,10 @@ void IgnitionROS2ControlPlugin::Configure(
   // Get controller manager node name
   std::string controllerManagerNodeName{"controller_manager"};
 
+  if (sdfPtr->HasElement("controller_manager_name")) {
+    controllerManagerNodeName = sdfPtr->GetElement("controller_manager_name")->Get<std::string>();
+  }
+
   std::string ns = "/";
   if (sdfPtr->HasElement("ros")) {
     sdf::ElementPtr sdfRos = sdfPtr->GetElement("ros");