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Cleanup controller config #180

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merged 1 commit into from
Sep 7, 2023
Merged

Cleanup controller config #180

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10 changes: 2 additions & 8 deletions gz_ros2_control_demos/config/cartpole_controller_effort.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,13 @@ controller_manager:
ros__parameters:
update_rate: 1000 # Hz

effort_controllers:
effort_controller:
type: effort_controllers/JointGroupEffortController

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

effort_controllers:
effort_controller:
ros__parameters:
joints:
- slider_to_cart
command_interfaces:
- effort
state_interfaces:
- position
- velocity
- effort
5 changes: 0 additions & 5 deletions gz_ros2_control_demos/config/cartpole_controller_velocity.yaml
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Expand Up @@ -15,11 +15,6 @@ velocity_controller:
ros__parameters:
joints:
- slider_to_cart
command_interfaces:
- velocity
state_interfaces:
- position
- velocity

imu_sensor_broadcaster:
ros__parameters:
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2 changes: 1 addition & 1 deletion gz_ros2_control_demos/examples/example_effort.cpp
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Expand Up @@ -26,7 +26,7 @@ int main(int argc, char * argv[])
std::make_shared<rclcpp::Node>("effort_test_node");

auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
"/effort_controllers/commands", 10);
"/effort_controller/commands", 10);

RCLCPP_INFO(node->get_logger(), "node created");

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2 changes: 1 addition & 1 deletion gz_ros2_control_demos/launch/cart_example_effort.launch.py
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Expand Up @@ -67,7 +67,7 @@ def generate_launch_description():
)

load_joint_effort_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'],
output='screen'
)

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