From 59f1a080ab6a69cb196565c6d4c8fd186c367b8c Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Sat, 27 Jul 2024 09:49:34 +0200
Subject: [PATCH] Add spawner namespacing and also add the missing
 --params-file path

---
 ...oller_manager_example_two_rrbots.launch.py | 22 +++++++++++++++----
 .../bringup/launch/rrbot_base.launch.py       |  8 ++++++-
 .../bringup/launch/rrbot_namespace.launch.py  | 11 ++++++----
 3 files changed, 32 insertions(+), 9 deletions(-)

diff --git a/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py b/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
index b96e5426a..a35adc965 100644
--- a/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
+++ b/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py
@@ -79,11 +79,18 @@ def generate_launch_description():
     rrbot_1_position_trajectory_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
+        namespace="rrbot_1",
         arguments=[
             "position_trajectory_controller",
-            "-c",
-            "/rrbot_1/controller_manager",
             "--inactive",
+            "--param-file",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_15"),
+                    "config",
+                    "multi_controller_manager_rrbot_1_controllers.yaml",
+                ]
+            ),
         ],
     )
 
@@ -108,11 +115,18 @@ def generate_launch_description():
     rrbot_2_position_trajectory_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
+        namespace="rrbot_2",
         arguments=[
             "position_trajectory_controller",
-            "-c",
-            "/rrbot_2/controller_manager",
             "--inactive",
+            "--param-file",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_15"),
+                    "config",
+                    "multi_controller_manager_rrbot_2_controllers.yaml",
+                ]
+            ),
         ],
     )
 
diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py
index 1de7e6900..1e75578bb 100644
--- a/example_15/bringup/launch/rrbot_base.launch.py
+++ b/example_15/bringup/launch/rrbot_base.launch.py
@@ -209,7 +209,13 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         namespace=namespace,
-        arguments=[robot_controller, "-c", controller_manager_name],
+        arguments=[
+            robot_controller,
+            "-c",
+            controller_manager_name,
+            "--param-file",
+            robot_controllers,
+        ],
     )
 
     # 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 0cd59332b..dc96b1743 100644
--- a/example_15/bringup/launch/rrbot_namespace.launch.py
+++ b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -84,23 +84,26 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/rrbot/controller_manager"],
+        namespace="rrbot",
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_forward_position_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "-c", "/rrbot/controller_manager"],
+        namespace="rrbot",
+        arguments=["forward_position_controller", "--param-file", robot_controllers],
     )
 
     robot_position_trajectory_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
+        namespace="rrbot",
         arguments=[
             "position_trajectory_controller",
-            "-c",
-            "/rrbot/controller_manager",
             "--inactive",
+            "--param-file",
+            robot_controllers,
         ],
     )