Ex10: use gpio_command_controller

example_10/CMakeLists.txt

@@ -16,7 +16,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   pluginlib
   rclcpp
   rclcpp_lifecycle
-  controller_interface
 )
 
 # Specify the required version of ros2_control
@@ -39,12 +38,10 @@ add_library(
   ros2_control_demo_example_10
   SHARED
   hardware/rrbot.cpp
-  controllers/gpio_controller.cpp
 )
 target_compile_features(ros2_control_demo_example_10 PUBLIC cxx_std_17)
 target_include_directories(ros2_control_demo_example_10 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
-$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_10>
 )
 ament_target_dependencies(
@@ -54,18 +51,12 @@ ament_target_dependencies(
 
 # Export hardware plugins
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_10.xml)
-# Export controllers
-pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_10.xml)
 
 # INSTALL
 install(
   DIRECTORY hardware/include/
   DESTINATION include/ros2_control_demo_example_10
 )
-install(
-  DIRECTORY controllers/include/
-  DESTINATION include/ros2_control_demo_example_10
-)
 install(
   DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_10

example_10/bringup/config/rrbot_controllers.yaml

@@ -16,12 +16,14 @@ forward_position_controller:
 
 gpio_controller:
   ros__parameters:
-    type: ros2_control_demo_example_10/GPIOController
-    inputs:
-     - flange_analog_IOs/analog_output1
-     - flange_analog_IOs/analog_input1
-     - flange_analog_IOs/analog_input2
-     - flange_vacuum/vacuum
-    outputs:
-     - flange_analog_IOs/analog_output1
-     - flange_vacuum/vacuum
+    type: gpio_controllers/GpioCommandController
+    gpios:
+      - flange_analog_IOs
+      - flange_vacuum
+    command_interfaces:
+      flange_analog_IOs:
+        - interfaces:
+          - analog_output1
+      flange_vacuum:
+        - interfaces:
+          - vacuum