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[tricycle] Rename variable in launch file (backport #327) (#337)
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* 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]>
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3 people authored Jun 10, 2024
1 parent 5f9a597 commit bffe118
Showing 1 changed file with 5 additions and 5 deletions.
10 changes: 5 additions & 5 deletions gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -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'
Expand All @@ -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,
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