[tricycle] Rename variable in launch file (backport #327) (#337)

* Rename variable in launch file (#327) Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit cd0b002) # Conflicts: # gz_ros2_control_demos/launch/tricycle_drive_example.launch.py * Fixed merge Signed-off-by: Alejandro Hernández Cordero <[email protected]> --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
ros-controls · Jun 10, 2024 · bffe118 · bffe118
1 parent 5f9a597
commit bffe118
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -61,13 +61,13 @@ def generate_launch_description():
                    '-allow_renaming', 'true'],
     )
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
-    load_joint_trajectory_controller = ExecuteProcess(
+    load_tricycle_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'tricycle_controller'],
         output='screen'
@@ -92,13 +92,13 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
-                on_exit=[load_joint_trajectory_controller],
+                target_action=load_joint_state_broadcaster,
+                on_exit=[load_tricycle_controller],
             )
         ),
         node_robot_state_publisher,