From a8c2d9f3b197519b572c871c021cb15b826fa5f4 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Thu, 14 May 2020 12:56:54 +0200
Subject: [PATCH] Removed controller loader and spawner
---
launch/joints_client_bt_example.launch | 23 ++---------------------
launch/joints_client_example.launch | 23 ++---------------------
2 files changed, 4 insertions(+), 42 deletions(-)
diff --git a/launch/joints_client_bt_example.launch b/launch/joints_client_bt_example.launch
index c6328bb..ebdfd69 100644
--- a/launch/joints_client_bt_example.launch
+++ b/launch/joints_client_bt_example.launch
@@ -23,7 +23,7 @@
<!-- JointTrajectoryController -->
<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="effort_controller_ns" default="effort_controller" />
<arg name="position_controller_ns" default="position_controller" />
@@ -35,7 +35,7 @@
<arg name="robot_ns" value="$(arg robot_ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
- <arg name="config_file" value="$(arg joint_trajecotry_config_file)"/>
+ <arg name="config_file" value="$(arg joint_trajectory_config_file)"/>
</include>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -54,25 +54,6 @@
<arg name="pub_clock_frequency" value="100"/>
</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) $(arg position_controller_ns)">
- </node>
-
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg controller_description_file)'" />
diff --git a/launch/joints_client_example.launch b/launch/joints_client_example.launch
index 49b2170..f691d2d 100644
--- a/launch/joints_client_example.launch
+++ b/launch/joints_client_example.launch
@@ -23,7 +23,7 @@
<!-- JointTrajectoryController -->
<arg name="controller_config_file" default="$(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/$(arg device_ns)_example.xacro" />
<arg name="effort_controller_ns" default="effort_controller" />
<arg name="position_controller_ns" default="position_controller" />
@@ -35,7 +35,7 @@
<arg name="robot_ns" value="$(arg robot_ns)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(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 file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -54,25 +54,6 @@
<arg name="pub_clock_frequency" value="100"/>
</include>
- <!-- load the controllers -->
- <node name="controller_spawner"
- pkg ="controller_manager"
- type="controller_manager"
- respawn="false"
- output="screen"
- ns="/$(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) $(arg position_controller_ns)">
- </node>
-
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg controller_description_file)'" />
--
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