Cleanup controller config (#180)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-controls · Sep 7, 2023 · 2231745 · 2231745
1 parent f396baa
commit 2231745
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Showing 4 changed files with 4 additions and 15 deletions.
diff --git a/gz_ros2_control_demos/config/cartpole_controller_effort.yaml b/gz_ros2_control_demos/config/cartpole_controller_effort.yaml
@@ -2,19 +2,13 @@ controller_manager:
  ros__parameters:
  update_rate: 1000 # 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
diff --git a/gz_ros2_control_demos/config/cartpole_controller_velocity.yaml b/gz_ros2_control_demos/config/cartpole_controller_velocity.yaml
@@ -15,11 +15,6 @@ velocity_controller:
  ros__parameters:
  joints:
  - slider_to_cart
- command_interfaces:
- - velocity
- state_interfaces:
- - position
- - velocity
 
 imu_sensor_broadcaster:
  ros__parameters:

diff --git a/gz_ros2_control_demos/examples/example_effort.cpp b/gz_ros2_control_demos/examples/example_effort.cpp
@@ -26,7 +26,7 @@ int main(int argc, char * argv[])
  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");
 

diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -67,7 +67,7 @@ def generate_launch_description():
  )
 
  load_joint_effort_controller = ExecuteProcess(
- cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
+ cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'],
  output='screen'
  )