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Use global joint_state_broadcaster
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christophfroehlich committed Dec 25, 2023
1 parent bb6bb79 commit 1e11bc5
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Showing 3 changed files with 14 additions and 9 deletions.
7 changes: 7 additions & 0 deletions example_13/bringup/config/three_robots_controllers.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -45,10 +45,15 @@ controller_manager:
threedofbot_pid_gain_controller:
type: forward_command_controller/ForwardCommandController

# global joint_state_broadcaster
# joint_state_broadcaster:
# ros__parameters:
# nothing to configure

# RRBot controllers
rrbot_joint_state_broadcaster:
ros__parameters:
use_local_topics: True
joints:
- rrbot_joint1
- rrbot_joint2
Expand All @@ -71,6 +76,7 @@ rrbot_external_fts_broadcaster:
# RRBot with sensor controllers
rrbot_with_sensor_joint_state_broadcaster:
ros__parameters:
use_local_topics: True
joints:
- rrbot_with_sensor_joint1
- rrbot_with_sensor_joint2
Expand All @@ -93,6 +99,7 @@ rrbot_with_sensor_fts_broadcaster:
# ThreeDofBot controllers
threedofbot_joint_state_broadcaster:
ros__parameters:
use_local_topics: True
joints:
- threedofbot_joint1
- threedofbot_joint2
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7 changes: 0 additions & 7 deletions example_13/bringup/launch/three_robots.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -77,13 +77,6 @@ def generate_launch_description():
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
remappings=[
("/joint_state_broadcaster/joint_states", "joint_states"),
],
output={
"stdout": "screen",
"stderr": "screen",
},
)
robot_state_pub_node = Node(
package="robot_state_publisher",
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9 changes: 7 additions & 2 deletions example_13/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -117,12 +117,17 @@ Tutorial steps

1. After starting the example there should be the following scene:
- right robot is moving (RRBotSystemPositionOnly - using auto-start)

- All interfaces are available and position controller is started and receives commands
- all controllers running

- left robot is standing upright (RRBotWithSensor - using auto-configure)

- only state interfaces are available therefore it can visualized, but not moved
- only position command controller is not running

- middle robot is "broken" (FakeThreeDofBot - it is only initialized)

- no interfaces are available
- all controllers inactive

Expand Down Expand Up @@ -248,7 +253,7 @@ Tutorial steps

- right robot is moving
- left robot is moving
- middle robot is standing still
- middle robot is still "broken"

Hardware status: ``FakeThreeDofBot`` is in inactive state.

Expand Down Expand Up @@ -377,7 +382,7 @@ Tutorial steps
Scenario state:

- right robot is "standing"
- right robot is now "standing" at the last position
- left robot is moving
- middle robot is moving

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