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Fix controller spawn error #11

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merged 1 commit into from
Dec 10, 2023
Merged

Fix controller spawn error #11

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26 changes: 16 additions & 10 deletions fd_bringup/launch/fd.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,13 @@
# limitations under the License.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch.substitutions import Command, FindExecutable
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.actions import DeclareLaunchArgument
from launch.substitutions import (
Command,
FindExecutable,
LaunchConfiguration,
PathJoinSubstitution,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

Expand Down Expand Up @@ -88,14 +92,16 @@ def generate_launch_description():
load_controllers = []
for controller in ['fd_controller', 'joint_state_broadcaster']:
load_controllers += [
ExecuteProcess(
cmd=[
'ros2 run controller_manager spawner' +
f'--controller-manager /fd/controller_manager {controller}'
Node(
package='controller_manager',
executable='spawner',
namespace='fd',
arguments=[
controller,
'--controller-manager',
'/fd/controller_manager',
],
shell=True,
output='screen',
)
),
]

nodes = [
Expand Down
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