Merge branch 'humble' into backport/humble/543

ros-controls · Nov 13, 2024 · 1e58376 · 1e58376
2 parents f32b440 + dcc67fe
commit 1e58376
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Showing 2 changed files with 24 additions and 3 deletions.
diff --git a/example_13/test/test_three_robots_launch.py b/example_13/test/test_three_robots_launch.py
@@ -329,9 +329,7 @@ def test_behavior(self, proc_output):
             "/joint_states",
             [
                 "rrbot_with_sensor_joint1",
-                "rrbot_joint1",
                 "rrbot_with_sensor_joint2",
-                "rrbot_joint2",
                 "threedofbot_joint1",
                 "threedofbot_joint2",
                 "threedofbot_joint3",

diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst
@@ -142,7 +142,30 @@ Tutorial steps
       [ros2_control_node-1]   pos: 0.67, vel: 5.00, acc: 0.00 for joint 0
       [ros2_control_node-1]   pos: 0.67, vel: 5.00, acc: 0.00 for joint 1
 
-6. To demonstrate illegal controller configuration, use one of the following launch file arguments:
+6. Now you can also switch controllers during runtime, which also changes the command mode automatically. First, you have to load the new controller, for example the ``forward_position_controller`` if you haven't changed the launch file argument.
+
+  .. code-block:: shell
+
+    ros2 control load_controller forward_position_controller $(ros2 pkg prefix ros2_control_demo_example_3 --share)/config/rrbot_multi_interface_forward_controllers.yaml
+    ros2 control set_controller_state forward_position_controller inactive
+
+  Then you can switch controllers using the following command:
+
+  .. code-block:: shell
+
+    ros2 control switch_controllers --deactivate forward_velocity_controller --activate forward_position_controller
+
+  Observe the output of the following CLI commands, and see how the command interfaces are claimed by the new controller.
+
+  .. code-block:: shell
+
+    ros2 control list_controllers
+    ros2 control list_hardware_interfaces
+
+  Try now to send commands to the new controller, as described in the previous step.
+
+
+7. To demonstrate illegal controller configuration, use one of the following launch file arguments:
 
    * ``robot_controller:=forward_illegal1_controller`` or
    * ``robot_controller:=forward_illegal2_controller``