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Cleanup controller config #232

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merged 2 commits into from
Sep 6, 2023
Merged

Cleanup controller config #232

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be016fc
Remove wrong yaml entries
christophfroehlich Sep 6, 2023
9e96ce5
Rename effort_controller
christophfroehlich Sep 6, 2023
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10 changes: 2 additions & 8 deletions gazebo_ros2_control_demos/config/cartpole_controller_effort.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,13 @@ controller_manager:
ros__parameters:
update_rate: 100 # Hz

effort_controllers:
effort_controller:
type: effort_controllers/JointGroupEffortController

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

effort_controllers:
effort_controller:
ros__parameters:
joints:
- slider_to_cart
command_interfaces:
- effort
state_interfaces:
- position
- velocity
- effort
6 changes: 1 addition & 5 deletions gazebo_ros2_control_demos/config/cartpole_controller_velocity.yaml
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Expand Up @@ -15,11 +15,7 @@ velocity_controller:
ros__parameters:
joints:
- slider_to_cart
command_interfaces:
- velocity
state_interfaces:
- position
- velocity

imu_sensor_broadcaster:
ros__parameters:
sensor_name: cart_imu_sensor
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2 changes: 1 addition & 1 deletion gazebo_ros2_control_demos/examples/example_effort.cpp
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Expand Up @@ -29,7 +29,7 @@ int main(int argc, char * argv[])
node = std::make_shared<rclcpp::Node>("effort_test_node");

auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
"/effort_controllers/commands", 10);
"/effort_controller/commands", 10);

RCLCPP_INFO(node->get_logger(), "node created");

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2 changes: 1 addition & 1 deletion gazebo_ros2_control_demos/launch/cart_example_effort.launch.py
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Expand Up @@ -63,7 +63,7 @@ def generate_launch_description():
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'],
output='screen'
)

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