From e23a12a68914604dc98ec029304e90d98d229983 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 21 Dec 2024 21:03:00 +0100
Subject: [PATCH] Use new spawner option for ros args (#577)

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
---
 example_11/bringup/launch/carlikebot.launch.py   | 11 +++++++----
 example_11/test/test_carlikebot_launch.py        | 10 ++++++++++
 .../bringup/launch/rrbot_namespace.launch.py     | 16 ++++++++--------
 example_2/bringup/launch/diffbot.launch.py       | 11 +++++++----
 4 files changed, 32 insertions(+), 16 deletions(-)

diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
index 47c3c3327..13054a298 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(
@@ -114,7 +111,13 @@ 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",
+            "-r /bicycle_steering_controller/tf_odometry:=/tf",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`
diff --git a/example_11/test/test_carlikebot_launch.py b/example_11/test/test_carlikebot_launch.py
index 1afb4ff33..1b45ec0d8 100644
--- a/example_11/test/test_carlikebot_launch.py
+++ b/example_11/test/test_carlikebot_launch.py
@@ -37,6 +37,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
+from launch_testing_ros import WaitForTopics
 
 # import launch_testing.markers
 import rclpy
@@ -46,6 +47,8 @@
     check_node_running,
 )
 
+from tf2_msgs.msg import TFMessage
+
 
 # Executes the given launch file and checks if all nodes can be started
 @pytest.mark.rostest
@@ -98,6 +101,13 @@ def test_check_if_msgs_published(self):
             ],
         )
 
+    def test_remapped_topic(self):
+        # we don't want to implement a tf lookup here
+        # so just check if the unmapped topic is not published
+        old_topic = "/bicycle_steering_controller/tf_odometry"
+        wait_for_topics = WaitForTopics([(old_topic, TFMessage)])
+        assert not wait_for_topics.wait(), f"Topic '{old_topic}' found, but should be remapped!"
+
 
 # TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
 # @launch_testing.post_shutdown_test()
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
index 537bdb208..1544f3657 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 +101,14 @@ 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,
+            # we use the remapping from a relative name to FQN /position_commands
+            "--controller-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..797ea5fd8 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",
+            "-r /diffbot_base_controller/cmd_vel:=/cmd_vel",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`