Fix examples for Rolling

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Author: SuperJappie08

examples/example2_16/diffbot.launch.py

@@ -29,7 +29,7 @@
     Command, LaunchConfiguration,
     PathJoinSubstitution, ThisLaunchFileDir
 )
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParametersFromFile
 from launch_ros.substitutions import FindPackageShare
 from launch_ros2_control.actions import SpawnControllers
 from launch_ros2_control.descriptions import Controller
@@ -67,15 +67,17 @@ def generate_launch_description():
 
     robot_description_content = LaunchConfiguration('robot_description_content')
 
+    diffbot_controller_parameters = PathJoinSubstitution([
+        FindPackageShare('ros2_control_demo_example_2'),
+        'config',
+        'diffbot_controllers.yaml'
+    ])
+
     ld.add_action(Node(
         package='controller_manager',
         executable='ros2_control_node',
         output='both',
-        parameters=[PathJoinSubstitution([
-            FindPackageShare('ros2_control_demo_example_2'),
-            'config',
-            'diffbot_controllers.yaml'
-        ])]))
+        parameters=[diffbot_controller_parameters]))
 
     ld.add_action(Node(
         package='robot_state_publisher',
@@ -86,6 +88,9 @@ def generate_launch_description():
     pid_controller_config_file = PathJoinSubstitution([
         ThisLaunchFileDir(), 'diffbot_pid_controllers.yaml'])
 
+    # Use global parameters to ensure parameter overriding happens in the correct order
+    ld.add_action(SetParametersFromFile(diffbot_controller_parameters))
+
     ld.add_action(SpawnControllers([
         Controller(
             name='pid_controller_left_wheel_joint',

examples/example2_16/diffbot.launch.xml

@@ -30,6 +30,8 @@
     <param name="robot_description" value="$(var robot_description_content)" />
   </node>
 
+  <!-- Use global parameters to ensure parameter overriding happens in the correct order -->
+  <set_parameters_from_file filename="$(find-pkg-share ros2_control_demo_example_2)/config/diffbot_controllers.yaml"/>
 
   <spawn_controller>
     <controller name="pid_controller_left_wheel_joint" if="$(var use_pid)">

examples/example2_16/diffbot.launch.yaml

@@ -45,6 +45,10 @@ launch:
       param:
         - { name: robot_description, value: $(var robot_description_content) }
 
+  # Use global parameters to ensure parameter overriding happens in the correct order
+  - set_parameters_from_file:
+      filename: $(find-pkg-share ros2_control_demo_example_2)/config/diffbot_controllers.yaml
+
   - spawn_controller:
       controller:
         - name: pid_controller_left_wheel_joint