From 22a5a8712c66c2988fc99dcbcfd7cc0791d1c5f6 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 15 Dec 2024 19:09:22 +0000 Subject: [PATCH] Rename spawners --- example_13/bringup/launch/three_robots.launch.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/example_13/bringup/launch/three_robots.launch.py b/example_13/bringup/launch/three_robots.launch.py index fef4e6ce..e9a1679c 100644 --- a/example_13/bringup/launch/three_robots.launch.py +++ b/example_13/bringup/launch/three_robots.launch.py @@ -106,7 +106,7 @@ def generate_launch_description(): ) # global broadcaster and initially active controllers from RRBot - ctrl_spawner = generate_controllers_spawner_launch_description( + general_ctrl_spawner = generate_controllers_spawner_launch_description( [ # Global joint state broadcaster "joint_state_broadcaster", @@ -120,13 +120,13 @@ def generate_launch_description(): ) # RRBot with sensors controllers, initially active - rrbot_sensor_spawner_active = generate_controllers_spawner_launch_description( + rrbot_sensor_ctrl_spawner_active = generate_controllers_spawner_launch_description( ["rrbot_with_sensor_joint_state_broadcaster", "rrbot_with_sensor_fts_broadcaster"], controller_params_files=[robot_controllers], ) # RRBot with sensors controllers, initially inactive - rrbot_sensor_spawner_inactive = generate_controllers_spawner_launch_description( + rrbot_sensor_ctrl_spawner_inactive = generate_controllers_spawner_launch_description( [ "rrbot_with_sensor_position_controller", ], @@ -135,7 +135,7 @@ def generate_launch_description(): ) # ThreeDofBot controllers, initially inactive - threedofbot_spawner = generate_controllers_spawner_launch_description( + threedofbot_ctrl_spawner = generate_controllers_spawner_launch_description( [ "threedofbot_joint_state_broadcaster", "threedofbot_position_controller", @@ -169,10 +169,10 @@ def generate_launch_description(): control_node, robot_state_pub_node, rviz_node, - ctrl_spawner, - rrbot_sensor_spawner_active, - rrbot_sensor_spawner_inactive, - threedofbot_spawner, + general_ctrl_spawner, + rrbot_sensor_ctrl_spawner_active, + rrbot_sensor_ctrl_spawner_inactive, + threedofbot_ctrl_spawner, rrbot_position_command_publisher, rrbot_with_sensor_position_command_publisher, threedofbot_position_command_publisher,