From cf803911309bd9919c752e670e8cfc96e6fed290 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 29 Feb 2024 19:35:40 +0000 Subject: [PATCH] Updated demos 1, 10, 11, 12, 14 --- example_1/bringup/launch/rrbot.launch.py | 2 +- example_10/bringup/launch/rrbot.launch.py | 2 +- example_11/bringup/launch/carlikebot.launch.py | 5 ----- example_12/bringup/launch/rrbot.launch.py | 2 +- ..._without_feedback_sensors_for_position_feedback.launch.py | 2 +- 5 files changed, 4 insertions(+), 9 deletions(-) diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py index e25a132ab..0de1813d1 100644 --- a/example_1/bringup/launch/rrbot.launch.py +++ b/example_1/bringup/launch/rrbot.launch.py @@ -67,7 +67,7 @@ def generate_launch_description(): control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[robot_description, robot_controllers], + parameters=[robot_controllers], output="both", ) robot_state_pub_node = Node( diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py index 9326d4690..7e975d565 100644 --- a/example_10/bringup/launch/rrbot.launch.py +++ b/example_10/bringup/launch/rrbot.launch.py @@ -50,7 +50,7 @@ def generate_launch_description(): control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[robot_description, robot_controllers], + parameters=[robot_controllers], output="both", ) robot_state_pub_node = Node( diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py index a15ea1256..1ada54ad1 100644 --- a/example_11/bringup/launch/carlikebot.launch.py +++ b/example_11/bringup/launch/carlikebot.launch.py @@ -78,7 +78,6 @@ def generate_launch_description(): parameters=[robot_controllers], output="both", remappings=[ - ("~/robot_description", "/robot_description"), ("/bicycle_steering_controller/tf_odometry", "/tf"), ], condition=IfCondition(remap_odometry_tf), @@ -89,7 +88,6 @@ def generate_launch_description(): parameters=[robot_controllers], output="both", remappings=[ - ("~/robot_description", "/robot_description"), ], condition=UnlessCondition(remap_odometry_tf), ) @@ -98,9 +96,6 @@ def generate_launch_description(): executable="robot_state_publisher", output="both", parameters=[robot_description], - remappings=[ - ("~/robot_description", "/robot_description"), - ], ) rviz_node = Node( package="rviz2", diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py index 07b4a486b..b89c521ed 100644 --- a/example_12/bringup/launch/rrbot.launch.py +++ b/example_12/bringup/launch/rrbot.launch.py @@ -53,7 +53,7 @@ def generate_launch_description(): control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[robot_description, robot_controllers], + parameters=[robot_controllers], output="both", ) robot_state_pub_node = Node( diff --git a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py index f988a5c70..6c263c12d 100644 --- a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py +++ b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py @@ -96,7 +96,7 @@ def generate_launch_description(): control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[robot_description, robot_controllers], + parameters=[robot_controllers], output="both", ) robot_state_pub_node = Node(