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fix: move controller remappings to spawner --controller-ros-args #324

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fix: move controller remappings to spawner --controller-ros-args #324

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40 changes: 26 additions & 14 deletions clearpath_control/launch/control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,21 +39,27 @@
from clearpath_config.common.utils.dictionary import unflatten_dict
from clearpath_config.common.utils.yaml import read_yaml

REMAPPINGS = [
('joint_states', 'platform/joint_states'),
('dynamic_joint_states', 'platform/dynamic_joint_states'),
('platform_velocity_controller/odom', 'platform/odom'),
('platform_velocity_controller/odometry', 'platform/odom'),
('platform_velocity_controller/cmd_vel', 'platform/cmd_vel'),
('platform_velocity_controller/cmd_vel_out', 'platform/cmd_vel_out'),
('platform_velocity_controller/reference', 'platform/cmd_vel'),
('platform_velocity_controller/transition_event', 'platform/transition_event'),
CONTROLLER_MANAGER_REMAPPINGS = [
('/diagnostics', 'diagnostics'),
('/tf', 'tf'),
('/tf_static', 'tf_static'),
('~/robot_description', 'robot_description'),
]

JOINT_STATE_BROADCASTER_REMAPPINGS = [
'-r', 'joint_states:=platform/joint_states',
'-r', 'dynamic_joint_states:=platform/dynamic_joint_states',
]

PLATFORM_VELOCITY_CONTROLLER_REMAPPINGS = [
'-r', '~/odom:=platform/odom',
'-r', '~/odometry:=platform/odom',
'-r', '~/cmd_vel:=platform/cmd_vel',
'-r', '~/cmd_vel_out:=platform/cmd_vel_out',
'-r', '~/reference:=platform/cmd_vel',
'-r', '~/transition_event:=platform/transition_event',
'-r', '/tf:=tf',
'-r', '/tf_static:=tf_static',
]


def launch_setup(context, *args, **kwargs):
setup_path = LaunchConfiguration('setup_path')
Expand All @@ -76,22 +82,28 @@ def launch_setup(context, *args, **kwargs):
'stdout': 'screen',
'stderr': 'screen',
},
remappings=REMAPPINGS,
remappings=CONTROLLER_MANAGER_REMAPPINGS,
condition=UnlessCondition(use_sim_time)
))
# Add Joint State Broadcaster
controllers.append(Node(
package='controller_manager',
executable='spawner',
arguments=['--controller-manager-timeout', '60', 'joint_state_broadcaster'],
arguments=[
'--controller-manager-timeout', '60', 'joint_state_broadcaster',
'--controller-ros-args',
] + JOINT_STATE_BROADCASTER_REMAPPINGS,
output='screen',
additional_env={'ROS_SUPER_CLIENT': 'True'},
))
# Add Platform Velocity Controller
controllers.append(Node(
package='controller_manager',
executable='spawner',
arguments=['--controller-manager-timeout', '60', 'platform_velocity_controller'],
arguments=[
'--controller-manager-timeout', '60', 'platform_velocity_controller',
'--controller-ros-args',
] + PLATFORM_VELOCITY_CONTROLLER_REMAPPINGS,
output='screen',
additional_env={'ROS_SUPER_CLIENT': 'True'},
))
Expand Down
17 changes: 9 additions & 8 deletions clearpath_manipulators/launch/control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,14 +62,6 @@ def launch_setup(context, *args, **kwargs):
},
remappings=[
('~/robot_description', 'robot_description'),
('dynamic_joint_states',
PathJoinSubstitution([
'/', namespace, 'platform', 'dynamic_joint_states'
])),
('joint_states',
PathJoinSubstitution([
'/', namespace, 'platform', 'joint_states'
])),
],
))
# Add Joint State Broadcaster
Expand All @@ -78,6 +70,15 @@ def launch_setup(context, *args, **kwargs):
executable='spawner',
arguments=[
'joint_state_broadcaster', '--controller-manager-timeout', '60',
'--controller-ros-args',
'-r', ['dynamic_joint_states:=',
PathJoinSubstitution([
'/', namespace, 'platform', 'dynamic_joint_states'
])],
'-r', ['joint_states:=',
PathJoinSubstitution([
'/', namespace, 'platform', 'joint_states'
])],
],
output='screen',
))
Expand Down
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