clean up default controller names (Kinovarobotics#145)

* clean up default controller names
* update default robot_position_controller name

Author: abake48

kortex_bringup/launch/kortex_control.launch.py

@@ -15,7 +15,11 @@
 # Authors: Marq Rasmussen, Denis Stogl
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, RegisterEventHandler, OpaqueFunction
+from launch.actions import (
+    DeclareLaunchArgument,
+    OpaqueFunction,
+    RegisterEventHandler,
+)
 from launch.event_handlers import OnProcessExit
 from launch.conditions import IfCondition
 from launch.substitutions import (
@@ -314,7 +318,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_pos_controller",
-            default_value="streaming_controller",
+            default_value="twist_controller",
             description="Robot controller to start.",
         )
     )

kortex_bringup/launch/kortex_sim_control.launch.py

@@ -361,7 +361,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_pos_controller",
-            default_value="streaming_controller",
+            default_value="twist_controller",
             description="Robot controller to start.",
         )
     )

kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml

@@ -8,7 +8,7 @@ controller_manager:
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
-    streaming_controller:
+    twist_controller:
       type: picknik_twist_controller/PicknikTwistController
 
     robotiq_gripper_controller:
@@ -39,7 +39,7 @@ joint_trajectory_controller:
       stopped_velocity_tolerance: 0.0
       goal_time: 0.0
 
-streaming_controller:
+twist_controller:
   ros__parameters:
     joint: tcp
     interface_names:

kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml

@@ -8,7 +8,7 @@ controller_manager:
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
-    streaming_controller:
+    twist_controller:
       type: picknik_twist_controller/PicknikTwistController
 
     robotiq_gripper_controller:
@@ -40,7 +40,7 @@ joint_trajectory_controller:
       stopped_velocity_tolerance: 0.0
       goal_time: 0.0
 
-streaming_controller:
+twist_controller:
   ros__parameters:
     joint: tcp
     interface_names:

kortex_description/package.xml

@@ -19,6 +19,8 @@ for Kortex arms and supported grippers</p>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
+  <exec_depend>picknik_reset_fault_controller</exec_depend>
+  <exec_depend>picknik_twist_controller</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
   <export>