Skip to content
Snippets Groups Projects
Commit a8c2d9f3 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Removed controller loader and spawner

parent 1d9777c5
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
launch/joints_client_bt_example.launch
+ 2
− 21
View file @ a8c2d9f3
...@@ -23,7 +23,7 @@ ...@@ -23,7 +23,7 @@
<!-- JointTrajectoryController --> <!-- JointTrajectoryController -->
<arg name="controller_config_file" default="$(find iri_joint_trajectory_gazebo)/config/$(arg device_ns)_sim_config.yaml" /> <arg name="controller_config_file" default="$(find iri_joint_trajectory_gazebo)/config/$(arg device_ns)_sim_config.yaml" />
<arg name="joint_trajecotry_config_file" default="$(find iri_joint_trajectory_gazebo)/config/joint_trajectory_controller_config.yaml"/> <arg name="joint_trajectory_config_file" default="$(find iri_joint_trajectory_gazebo)/config/joint_trajectory_controller_config.yaml"/>
<arg name="controller_description_file" default="$(find iri_joint_trajectory_gazebo)/urdf/$(arg device_ns)_example.xacro" /> <arg name="controller_description_file" default="$(find iri_joint_trajectory_gazebo)/urdf/$(arg device_ns)_example.xacro" />
<arg name="effort_controller_ns" default="effort_controller" /> <arg name="effort_controller_ns" default="effort_controller" />
<arg name="position_controller_ns" default="position_controller" /> <arg name="position_controller_ns" default="position_controller" />
...@@ -35,7 +35,7 @@ ...@@ -35,7 +35,7 @@
<arg name="robot_ns" value="$(arg robot_ns)"/> <arg name="robot_ns" value="$(arg robot_ns)"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg joint_trajecotry_config_file)"/> <arg name="config_file" value="$(arg joint_trajectory_config_file)"/>
</include> </include>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
...@@ -54,25 +54,6 @@ ...@@ -54,25 +54,6 @@
<arg name="pub_clock_frequency" value="100"/> <arg name="pub_clock_frequency" value="100"/>
</include> </include>
<!-- load the controllers -->
<node name="controller_spawner"
pkg ="controller_manager"
type="controller_manager"
respawn="false"
output="screen"
ns="/$(arg robot_ns)"
args="spawn joint_state_controller">
</node>
<node name="controller_loader"
pkg ="controller_manager"
type="controller_manager"
respawn="false"
output="screen"
ns="/$(arg robot_ns)"
args="load $(arg effort_controller_ns) $(arg position_controller_ns)">
</node>
<param name="robot_description" <param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg controller_description_file)'" /> command="$(find xacro)/xacro --inorder '$(arg controller_description_file)'" />
......
launch/joints_client_example.launch
+ 2
− 21
View file @ a8c2d9f3
...@@ -23,7 +23,7 @@ ...@@ -23,7 +23,7 @@
<!-- JointTrajectoryController --> <!-- JointTrajectoryController -->
<arg name="controller_config_file" default="$(find iri_joint_trajectory_gazebo)/config/$(arg device_ns)_sim_config.yaml" /> <arg name="controller_config_file" default="$(find iri_joint_trajectory_gazebo)/config/$(arg device_ns)_sim_config.yaml" />
<arg name="joint_trajecotry_config_file" default="$(find iri_joint_trajectory_gazebo)/config/joint_trajectory_controller_config.yaml"/> <arg name="joint_trajectory_config_file" default="$(find iri_joint_trajectory_gazebo)/config/joint_trajectory_controller_config.yaml"/>
<arg name="controller_description_file" default="$(find iri_joint_trajectory_gazebo)/urdf/$(arg device_ns)_example.xacro" /> <arg name="controller_description_file" default="$(find iri_joint_trajectory_gazebo)/urdf/$(arg device_ns)_example.xacro" />
<arg name="effort_controller_ns" default="effort_controller" /> <arg name="effort_controller_ns" default="effort_controller" />
<arg name="position_controller_ns" default="position_controller" /> <arg name="position_controller_ns" default="position_controller" />
...@@ -35,7 +35,7 @@ ...@@ -35,7 +35,7 @@
<arg name="robot_ns" value="$(arg robot_ns)"/> <arg name="robot_ns" value="$(arg robot_ns)"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg joint_trajecotry_config_file)"/> <arg name="config_file" value="$(arg joint_trajectory_config_file)"/>
</include> </include>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
...@@ -54,25 +54,6 @@ ...@@ -54,25 +54,6 @@
<arg name="pub_clock_frequency" value="100"/> <arg name="pub_clock_frequency" value="100"/>
</include> </include>
<!-- load the controllers -->
<node name="controller_spawner"
pkg ="controller_manager"
type="controller_manager"
respawn="false"
output="screen"
ns="/$(arg robot_ns)"
args="spawn joint_state_controller">
</node>
<node name="controller_loader"
pkg ="controller_manager"
type="controller_manager"
respawn="false"
output="screen"
ns="/$(arg robot_ns)"
args="load $(arg effort_controller_ns) $(arg position_controller_ns)">
</node>
<param name="robot_description" <param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg controller_description_file)'" /> command="$(find xacro)/xacro --inorder '$(arg controller_description_file)'" />
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment