From 73d7135f86908790bbabe3d9a429aea7001c861d Mon Sep 17 00:00:00 2001
From: Gerry Salinas <gerry@appliedinvention.com>
Date: Tue, 19 Mar 2024 21:46:48 +0000
Subject: [PATCH] Restore base version of canopen_system example.

---
 .../canopen_system/ros2_controllers.yaml      |  4 ++--
 canopen_tests/launch/canopen_system.launch.py | 23 +++----------------
 2 files changed, 5 insertions(+), 22 deletions(-)

diff --git a/canopen_tests/config/canopen_system/ros2_controllers.yaml b/canopen_tests/config/canopen_system/ros2_controllers.yaml
index 57005410..771b5f9c 100644
--- a/canopen_tests/config/canopen_system/ros2_controllers.yaml
+++ b/canopen_tests/config/canopen_system/ros2_controllers.yaml
@@ -1,4 +1,4 @@
-__namespace__/controller_manager:
+controller_manager:
   ros__parameters:
     update_rate: 10  # Hz
 
@@ -8,6 +8,6 @@ __namespace__/controller_manager:
     node_1_controller:
       type: canopen_ros2_controllers/CanopenProxyController
 
-__namespace__/node_1_controller:
+node_1_controller:
   ros__parameters:
     joint: node_1
diff --git a/canopen_tests/launch/canopen_system.launch.py b/canopen_tests/launch/canopen_system.launch.py
index 7c9dd634..ef63aefc 100644
--- a/canopen_tests/launch/canopen_system.launch.py
+++ b/canopen_tests/launch/canopen_system.launch.py
@@ -40,13 +40,10 @@
 
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import GroupAction
-from launch_ros.actions import PushROSNamespace
-from nav2_common.launch import ReplaceString
 
 
 def launch_setup(context, *args, **kwargs):
-    can_ns = LaunchConfiguration("can_ns")
+
     name = LaunchConfiguration("name")
     prefix = LaunchConfiguration("prefix")
 
@@ -114,11 +111,6 @@ def launch_setup(context, *args, **kwargs):
         ]
     )
 
-    ros2_control_config = ReplaceString(
-        source_file=ros2_control_config,
-        replacements={"__namespace__/":(can_ns, "/")}
-    )
-
     # nodes to start are listed below
     control_node = Node(
         package="controller_manager",
@@ -131,13 +123,13 @@ def launch_setup(context, *args, **kwargs):
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster"]
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
     )
 
     canopen_proxy_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["node_1_controller"]
+        arguments=["node_1_controller", "--controller-manager", "/controller_manager"],
     )
 
     robot_state_publisher_node = Node(
@@ -182,21 +174,12 @@ def launch_setup(context, *args, **kwargs):
         canopen_proxy_controller_spawner,
     ]
 
-    actions = [PushROSNamespace(can_ns)]
-    actions.extend(nodes_to_start)
-    return [GroupAction(actions=actions)]
-
     return nodes_to_start
 
 
 def generate_launch_description():
 
     declared_arguments = []
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "can_ns", description="namespace", default_value="",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "name", description="robot name", default_value="canopen_test_system"