modifications for ros-controls/ros2_controllers#1858

Author: mathias31415

kuka_eki_motion_primitives_hw_interface/CMakeLists.txt

@@ -14,7 +14,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(ament_cmake_gmock REQUIRED)
 find_package(ros2_control_test_assets REQUIRED)
-find_package(motion_primitives_forward_controller REQUIRED)
+find_package(motion_primitives_controllers REQUIRED)
 find_package(angles REQUIRED)
 find_package(tinyxml_vendor REQUIRED)
 find_package(TinyXML REQUIRED)
@@ -44,14 +44,12 @@ target_link_libraries(kuka_eki_motion_primitives_hw_interface
     angles::angles
     hardware_interface::hardware_interface
     hardware_interface::mock_components
-    motion_primitives_forward_controller::motion_primitives_forward_controller
-    motion_primitives_forward_controller::motion_primitives_forward_controller_parameters
+    motion_primitives_controllers::motion_primitives_controllers
     rclcpp::rclcpp
     rclcpp_lifecycle::rclcpp_lifecycle
     tf2_geometry_msgs::tf2_geometry_msgs
 )
 
-
 # prevent pluginlib from using boost
 target_compile_definitions(kuka_eki_motion_primitives_hw_interface PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 

kuka_eki_motion_primitives_hw_interface/include/kuka_eki_motion_primitives_hw_interface/motion_primitives_kuka_driver.hpp

@@ -28,13 +28,13 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 
-#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "motion_primitives_controllers/motion_primitives_forward_controller.hpp"
 #include "eki_communication/Robot.h"
 #include "control_msgs/msg/motion_primitive.hpp"
 
-using MoprimExecutionState = motion_primitives_forward_controller::ExecutionState;
+using MoprimExecutionState = motion_primitives_controllers::ExecutionState;
 using MoprimMotionType = control_msgs::msg::MotionPrimitive;
-using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
+using MoprimMotionHelperType = motion_primitives_controllers::MotionHelperType;
 
 namespace kuka_eki_motion_primitives_hw_interface
 {

kuka_eki_motion_primitives_hw_interface/package.xml

@@ -18,7 +18,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>rclpy</depend>
   <depend>ros2_control_test_assets</depend>
-  <depend>motion_primitives_forward_controller</depend>
+  <depend>motion_primitives_controllers</depend>
   <depend>angles</depend>
   <depend>tf2_geometry_msgs</depend>  
   <depend>control_msgs</depend>

kuka_resources/config/kuka_6dof_controllers.yaml

@@ -12,10 +12,10 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
 
     motion_primitive_forward_controller:
-      type: motion_primitives_forward_controller/MotionPrimitivesForwardController
+      type: motion_primitives_controllers/MotionPrimitivesForwardController
 
     motion_primitive_from_trajectory_controller:
-      type: motion_primitives_from_trajectory_controller/MotionPrimitivesFromTrajectoryController
+      type: motion_primitives_controllers/MotionPrimitivesFromTrajectoryController
 
 forward_position_controller:
   ros__parameters: