From 50476f96a56e232a21a8842aa7fdeccfa327f453 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Fri, 20 Dec 2024 14:37:32 +0100
Subject: [PATCH] Update ros2_control_demos to use --controller-ros-args

---
 example_11/bringup/launch/carlikebot.launch.py    | 12 +++++++-----
 .../bringup/launch/rrbot_namespace.launch.py      | 15 +++++++--------
 example_2/bringup/launch/diffbot.launch.py        | 11 +++++++----
 3 files changed, 21 insertions(+), 17 deletions(-)

diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
index 47c3c3327..d2ab3122f 100644
--- a/example_11/bringup/launch/carlikebot.launch.py
+++ b/example_11/bringup/launch/carlikebot.launch.py
@@ -77,9 +77,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("/bicycle_steering_controller/tf_odometry", "/tf"),
-        ],
         condition=IfCondition(remap_odometry_tf),
     )
     control_node = Node(
@@ -87,7 +84,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[],
         condition=UnlessCondition(remap_odometry_tf),
     )
     robot_state_pub_bicycle_node = Node(
@@ -114,7 +110,13 @@ def generate_launch_description():
     robot_bicycle_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["bicycle_steering_controller", "--param-file", robot_controllers],
+        arguments=[
+            "bicycle_steering_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "'--ros-args -r /bicycle_steering_controller/tf_odometry:=/tf'",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
index 537bdb208..bc81e4380 100644
--- a/example_15/bringup/launch/rrbot_namespace.launch.py
+++ b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -69,13 +69,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         namespace="/rrbot",
         parameters=[robot_description, robot_controllers],
-        remappings=[
-            (
-                # we use the remapping from a relative name to FQN /position_commands
-                "forward_position_controller/commands",
-                "/position_commands",
-            ),
-        ],
         output={
             "stdout": "screen",
             "stderr": "screen",
@@ -108,7 +101,13 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         namespace="rrbot",
-        arguments=["forward_position_controller", "--param-file", robot_controllers],
+        arguments=[
+            "forward_position_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "'--ros-args -r forward_position_controller/commands:=/position_commands'",
+        ],
     )
 
     robot_position_trajectory_controller_spawner = Node(
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 1c345464f..cd934add9 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -75,9 +75,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
-        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",
@@ -103,7 +100,13 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["diffbot_base_controller", "--param-file", robot_controllers],
+        arguments=[
+            "diffbot_base_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "'--ros-args -r /diffbot_base_controller/cmd_vel:=/cmd_vel'",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`