Configure correctly for runtime

Signed-off-by: AdamPettinger <adam.l.pettinger@gmail.com>

Author: AdamPettinger

ur_controllers/controller_plugins.xml

@@ -39,4 +39,9 @@
       Controller to use the tool contact functionality of the robot.
     </description>
   </class>
+  <class name="ur_controllers/GravityUpdateController" type="ur_controllers::GravityUpdateController" base_class_type="controller_interface::ControllerInterface">
+    <description>
+      Controller to set the gravity direction of the robot.
+    </description>
+  </class>
 </library>

ur_controllers/src/gpio_controller.cpp

@@ -99,12 +99,6 @@ controller_interface::InterfaceConfiguration GPIOController::command_interface_c
 
   config.names.emplace_back(tf_prefix + "gpio/analog_output_domain_cmd");
 
-  // Gravity stuff
-  config.names.emplace_back(tf_prefix + "gravity/x");
-  config.names.emplace_back(tf_prefix + "gravity/y");
-  config.names.emplace_back(tf_prefix + "gravity/z");
-  config.names.emplace_back(tf_prefix + "gravity/gravity_async_success");
-
   return config;
 }
 

ur_controllers/src/gravity_update_controller.cpp

@@ -287,10 +287,10 @@ ur_controllers::GravityUpdateController::on_configure(const rclcpp_lifecycle::St
 controller_interface::CallbackReturn
 ur_controllers::GravityUpdateController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
 {
-  while (state_interfaces_[StateInterfaces::INITIALIZED_FLAG].get_optional().value_or(0.0) == 0.0) {
-    RCLCPP_INFO(get_node()->get_logger(), "Waiting for system interface to initialize...");
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  }
+  // while (state_interfaces_[StateInterfaces::INITIALIZED_FLAG].get_optional().value_or(0.0) == 0.0) {
+  //   RCLCPP_INFO(get_node()->get_logger(), "Waiting for system interface to initialize...");
+  //   std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  // }
 
   try {
     auto qos_latched = rclcpp::SystemDefaultsQoS();