From 1e11bc5b0e1c4295a37c00908ccd00c6511999ca Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 25 Dec 2023 17:52:39 +0000
Subject: [PATCH] Use global joint_state_broadcaster

---
 example_13/bringup/config/three_robots_controllers.yaml | 7 +++++++
 example_13/bringup/launch/three_robots.launch.py        | 7 -------
 example_13/doc/userdoc.rst                              | 9 +++++++--
 3 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/example_13/bringup/config/three_robots_controllers.yaml b/example_13/bringup/config/three_robots_controllers.yaml
index fb66334de..2a534cade 100644
--- a/example_13/bringup/config/three_robots_controllers.yaml
+++ b/example_13/bringup/config/three_robots_controllers.yaml
@@ -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
@@ -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
@@ -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
diff --git a/example_13/bringup/launch/three_robots.launch.py b/example_13/bringup/launch/three_robots.launch.py
index d30d9c4ea..7f581a8fb 100644
--- a/example_13/bringup/launch/three_robots.launch.py
+++ b/example_13/bringup/launch/three_robots.launch.py
@@ -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",
diff --git a/example_13/doc/userdoc.rst b/example_13/doc/userdoc.rst
index 5bd8fd140..13ccc59f8 100644
--- a/example_13/doc/userdoc.rst
+++ b/example_13/doc/userdoc.rst
@@ -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
 
@@ -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.
 
@@ -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