Give the controller type as parameter in ctrl namespace

ros-controls · Apr 25, 2024 · 9ab845c · 9ab845c
1 parent f6d8c44
commit 9ab845c
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Showing 13 changed files with 26 additions and 72 deletions.
diff --git a/example_1/bringup/config/rrbot_controllers.yaml b/example_1/bringup/config/rrbot_controllers.yaml
@@ -5,15 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    joint_trajectory_position_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
@@ -22,6 +17,8 @@ forward_position_controller:
 
 joint_trajectory_position_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
+
     joints:
       - joint1
       - joint2

diff --git a/example_10/bringup/config/rrbot_controllers.yaml b/example_10/bringup/config/rrbot_controllers.yaml
@@ -5,22 +5,18 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    gpio_controller:
-      type: ros2_control_demo_example_10/GPIOController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
     interface_name: position
 
 gpio_controller:
   ros__parameters:
+    type: ros2_control_demo_example_10/GPIOController
     inputs:
      - flange_analog_IOs/analog_output1
      - flange_analog_IOs/analog_input1

diff --git a/example_11/bringup/config/carlikebot_controllers.yaml b/example_11/bringup/config/carlikebot_controllers.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    bicycle_steering_controller:
-      type: bicycle_steering_controller/BicycleSteeringController
-
 
 bicycle_steering_controller:
   ros__parameters:
+    type: bicycle_steering_controller/BicycleSteeringController
     wheelbase: 0.325
     front_wheel_radius: 0.05
     rear_wheel_radius: 0.05

diff --git a/example_12/bringup/config/rrbot_chained_controllers.yaml b/example_12/bringup/config/rrbot_chained_controllers.yaml
@@ -5,39 +5,30 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    joint1_position_controller:
-      type: passthrough_controller/PassthroughController
-
-    joint2_position_controller:
-      type: passthrough_controller/PassthroughController
-
-    position_controller:
-      type: passthrough_controller/PassthroughController
-
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
 
 # First-level controllers
 joint1_position_controller:
   ros__parameters:
+    type: passthrough_controller/PassthroughController
     interfaces: ["joint1/position"]
 
-
 joint2_position_controller:
   ros__parameters:
+    type: passthrough_controller/PassthroughController
     interfaces: ["joint2/position"]
 
-
 # Second-level controller
 position_controller:
   ros__parameters:
+    type: passthrough_controller/PassthroughController
     interfaces:
       - joint1_position_controller/joint1/position
       - joint2_position_controller/joint2/position
 
 # Third-level controllers
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - position_controller/joint1_position_controller/joint1
       - position_controller/joint2_position_controller/joint2

diff --git a/...ringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml b/...ringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_velocity_controller:
-      type: forward_command_controller/ForwardCommandController
-
 
 forward_velocity_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2

diff --git a/example_2/bringup/config/diffbot_controllers.yaml b/example_2/bringup/config/diffbot_controllers.yaml
@@ -5,11 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    diffbot_base_controller:
-      type: diff_drive_controller/DiffDriveController
-
 diffbot_base_controller:
   ros__parameters:
+    type: diff_drive_controller/DiffDriveController
+
     left_wheel_names: ["left_wheel_joint"]
     right_wheel_names: ["right_wheel_joint"]
 

diff --git a/example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml b/example_3/bringup/config/rrbot_multi_interface_forward_controllers.yaml
@@ -2,51 +2,41 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    forward_position_controller:
-      type: position_controllers/JointGroupPositionController
-
-    forward_velocity_controller:
-      type: velocity_controllers/JointGroupVelocityController
-
-    forward_acceleration_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    forward_illegal1_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    forward_illegal2_controller:
-      type: forward_command_controller/ForwardCommandController
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 forward_position_controller:
   ros__parameters:
+    type: position_controllers/JointGroupPositionController
     joints:
       - joint1
       - joint2
 
 forward_velocity_controller:
   ros__parameters:
+    type: velocity_controllers/JointGroupVelocityController
     joints:
       - joint1
       - joint2
 
 forward_acceleration_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
     interface_name: acceleration
 
 forward_illegal1_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
     interface_name: position
 
 forward_illegal2_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint2
     interface_name: position
diff --git a/example_4/bringup/config/rrbot_with_sensor_controllers.yaml b/example_4/bringup/config/rrbot_with_sensor_controllers.yaml
@@ -2,24 +2,20 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    fts_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
     interface_name: position
 
 fts_broadcaster:
   ros__parameters:
+    type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
     interface_names.force.x: tcp_fts_sensor/force.x
     interface_names.torque.z: tcp_fts_sensor/torque.z
     frame_id: tool_link
diff --git a/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml b/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml
@@ -2,23 +2,19 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    fts_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
     interface_name: position
 
 fts_broadcaster:
   ros__parameters:
+    type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
     sensor_name: tcp_fts_sensor
     frame_id: tool_link
diff --git a/example_6/bringup/config/rrbot_modular_actuators.yaml b/example_6/bringup/config/rrbot_modular_actuators.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2

diff --git a/example_7/bringup/config/r6bot_controller.yaml b/example_7/bringup/config/r6bot_controller.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    r6bot_controller:
-      type: ros2_control_demo_example_7/RobotController
-
 
 r6bot_controller:
   ros__parameters:
+    type: ros2_control_demo_example_7/RobotController
     joints:
       - joint_1
       - joint_2

diff --git a/example_8/bringup/config/rrbot_controllers.yaml b/example_8/bringup/config/rrbot_controllers.yaml
@@ -5,12 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2

diff --git a/example_9/bringup/config/rrbot_controllers.yaml b/example_9/bringup/config/rrbot_controllers.yaml
@@ -5,11 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2