diff --git a/example_1/bringup/config/rrbot_controllers.yaml b/example_1/bringup/config/rrbot_controllers.yaml index e98fce3b1..04ac6328e 100644 --- a/example_1/bringup/config/rrbot_controllers.yaml +++ b/example_1/bringup/config/rrbot_controllers.yaml @@ -5,15 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_position_controller: - type: forward_command_controller/ForwardCommandController - - joint_trajectory_position_controller: - type: joint_trajectory_controller/JointTrajectoryController - forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 @@ -22,6 +17,8 @@ forward_position_controller: joint_trajectory_position_controller: ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: - joint1 - joint2 diff --git a/example_10/bringup/config/rrbot_controllers.yaml b/example_10/bringup/config/rrbot_controllers.yaml index 90434b572..0211d44ef 100644 --- a/example_10/bringup/config/rrbot_controllers.yaml +++ b/example_10/bringup/config/rrbot_controllers.yaml @@ -5,15 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_position_controller: - type: forward_command_controller/ForwardCommandController - - gpio_controller: - type: ros2_control_demo_example_10/GPIOController - forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 @@ -21,6 +16,7 @@ forward_position_controller: gpio_controller: ros__parameters: + type: ros2_control_demo_example_10/GPIOController inputs: - flange_analog_IOs/analog_output1 - flange_analog_IOs/analog_input1 diff --git a/example_11/bringup/config/carlikebot_controllers.yaml b/example_11/bringup/config/carlikebot_controllers.yaml index 7961764f3..11f355ebe 100644 --- a/example_11/bringup/config/carlikebot_controllers.yaml +++ b/example_11/bringup/config/carlikebot_controllers.yaml @@ -5,12 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - bicycle_steering_controller: - type: bicycle_steering_controller/BicycleSteeringController - bicycle_steering_controller: ros__parameters: + type: bicycle_steering_controller/BicycleSteeringController wheelbase: 0.325 front_wheel_radius: 0.05 rear_wheel_radius: 0.05 diff --git a/example_12/bringup/config/rrbot_chained_controllers.yaml b/example_12/bringup/config/rrbot_chained_controllers.yaml index e85198763..ccd7ddff9 100644 --- a/example_12/bringup/config/rrbot_chained_controllers.yaml +++ b/example_12/bringup/config/rrbot_chained_controllers.yaml @@ -5,32 +5,22 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - joint1_position_controller: - type: passthrough_controller/PassthroughController - - joint2_position_controller: - type: passthrough_controller/PassthroughController - - position_controller: - type: passthrough_controller/PassthroughController - - forward_position_controller: - type: forward_command_controller/ForwardCommandController # First-level controllers joint1_position_controller: ros__parameters: + type: passthrough_controller/PassthroughController interfaces: ["joint1/position"] - joint2_position_controller: ros__parameters: + type: passthrough_controller/PassthroughController interfaces: ["joint2/position"] - # Second-level controller position_controller: ros__parameters: + type: passthrough_controller/PassthroughController interfaces: - joint1_position_controller/joint1/position - joint2_position_controller/joint2/position @@ -38,6 +28,7 @@ position_controller: # Third-level controllers forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - position_controller/joint1_position_controller/joint1 - position_controller/joint2_position_controller/joint2 diff --git a/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml b/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml index 981ca5647..46c8a98dc 100644 --- a/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml +++ b/example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml @@ -5,12 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_velocity_controller: - type: forward_command_controller/ForwardCommandController - forward_velocity_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 diff --git a/example_2/bringup/config/diffbot_controllers.yaml b/example_2/bringup/config/diffbot_controllers.yaml index 4f1ad7037..47f1c4c9c 100644 --- a/example_2/bringup/config/diffbot_controllers.yaml +++ b/example_2/bringup/config/diffbot_controllers.yaml @@ -5,11 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - diffbot_base_controller: - type: diff_drive_controller/DiffDriveController - diffbot_base_controller: ros__parameters: + type: diff_drive_controller/DiffDriveController + left_wheel_names: ["left_wheel_joint"] right_wheel_names: ["right_wheel_joint"] diff --git a/example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml b/example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml index 0b832d944..2494f5b63 100644 --- a/example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml +++ b/example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml @@ -2,38 +2,26 @@ controller_manager: ros__parameters: update_rate: 100 # Hz - forward_position_controller: - type: position_controllers/JointGroupPositionController - - forward_velocity_controller: - type: velocity_controllers/JointGroupVelocityController - - forward_acceleration_controller: - type: forward_command_controller/ForwardCommandController - - forward_illegal1_controller: - type: forward_command_controller/ForwardCommandController - - forward_illegal2_controller: - type: forward_command_controller/ForwardCommandController - joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster forward_position_controller: ros__parameters: + type: position_controllers/JointGroupPositionController joints: - joint1 - joint2 forward_velocity_controller: ros__parameters: + type: velocity_controllers/JointGroupVelocityController joints: - joint1 - joint2 forward_acceleration_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 @@ -41,12 +29,14 @@ forward_acceleration_controller: forward_illegal1_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 interface_name: position forward_illegal2_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint2 interface_name: position diff --git a/example_4/bringup/config/rrbot_with_sensor_controllers.yaml b/example_4/bringup/config/rrbot_with_sensor_controllers.yaml index c086d4e40..6dce7c162 100644 --- a/example_4/bringup/config/rrbot_with_sensor_controllers.yaml +++ b/example_4/bringup/config/rrbot_with_sensor_controllers.yaml @@ -2,17 +2,12 @@ controller_manager: ros__parameters: update_rate: 100 # Hz - forward_position_controller: - type: forward_command_controller/ForwardCommandController - - fts_broadcaster: - type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster - joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 @@ -20,6 +15,7 @@ forward_position_controller: fts_broadcaster: ros__parameters: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster interface_names.force.x: tcp_fts_sensor/force.x interface_names.torque.z: tcp_fts_sensor/torque.z frame_id: tool_link diff --git a/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml b/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml index c7759ea67..7a4b500e7 100644 --- a/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml +++ b/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml @@ -2,17 +2,12 @@ controller_manager: ros__parameters: update_rate: 100 # Hz - forward_position_controller: - type: forward_command_controller/ForwardCommandController - - fts_broadcaster: - type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster - joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 @@ -20,5 +15,6 @@ forward_position_controller: fts_broadcaster: ros__parameters: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster sensor_name: tcp_fts_sensor frame_id: tool_link diff --git a/example_6/bringup/config/rrbot_modular_actuators.yaml b/example_6/bringup/config/rrbot_modular_actuators.yaml index 15846b724..5061aef17 100644 --- a/example_6/bringup/config/rrbot_modular_actuators.yaml +++ b/example_6/bringup/config/rrbot_modular_actuators.yaml @@ -5,12 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_position_controller: - type: forward_command_controller/ForwardCommandController - forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 diff --git a/example_7/bringup/config/r6bot_controller.yaml b/example_7/bringup/config/r6bot_controller.yaml index 222d00a84..dcef5eb8e 100644 --- a/example_7/bringup/config/r6bot_controller.yaml +++ b/example_7/bringup/config/r6bot_controller.yaml @@ -5,12 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - r6bot_controller: - type: ros2_control_demo_example_7/RobotController - r6bot_controller: ros__parameters: + type: ros2_control_demo_example_7/RobotController joints: - joint_1 - joint_2 diff --git a/example_8/bringup/config/rrbot_controllers.yaml b/example_8/bringup/config/rrbot_controllers.yaml index 66f79d0ff..0a658759c 100644 --- a/example_8/bringup/config/rrbot_controllers.yaml +++ b/example_8/bringup/config/rrbot_controllers.yaml @@ -5,12 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_position_controller: - type: forward_command_controller/ForwardCommandController - forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2 diff --git a/example_9/bringup/config/rrbot_controllers.yaml b/example_9/bringup/config/rrbot_controllers.yaml index 383757513..0a658759c 100644 --- a/example_9/bringup/config/rrbot_controllers.yaml +++ b/example_9/bringup/config/rrbot_controllers.yaml @@ -5,11 +5,10 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_position_controller: - type: forward_command_controller/ForwardCommandController forward_position_controller: ros__parameters: + type: forward_command_controller/ForwardCommandController joints: - joint1 - joint2