Skip to content

Add controller manager spawner to the TurtleBot launch file #236

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 3 commits into from
Jun 21, 2021
Merged

Add controller manager spawner to the TurtleBot launch file #236

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
aadc443
Add controller spawner
lukicdarkoo Jun 18, 2021
599fa8a
Merge branch 'master' into feature-controller-spawner
lukicdarkoo Jun 21, 2021
6064605
Start spawners
lukicdarkoo Jun 21, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 18 additions & 0 deletions webots_ros2_turtlebot/launch/robot_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,22 @@ def generate_launch_description():
world=PathJoinSubstitution([package_dir, 'worlds', world])
)

diffdrive_controller_spawner = Node(
package='controller_manager',
executable='spawner.py',
output='screen',
prefix="bash -c 'sleep 10; $0 $@' ",
arguments=['diffdrive_controller'],
)

joint_state_broadcaster_spawner = Node(
package='controller_manager',
executable='spawner.py',
output='screen',
prefix="bash -c 'sleep 10; $0 $@' ",
arguments=['joint_state_broadcaster'],
)

turtlebot_driver = Node(
package='webots_ros2_driver',
executable='driver',
Expand Down Expand Up @@ -73,6 +89,8 @@ def generate_launch_description():
default_value='turtlebot3_burger_example.wbt',
description='Choose one of the world files from `/webots_ros2_turtlebot/world` directory'
),
joint_state_broadcaster_spawner,
diffdrive_controller_spawner,
webots,
robot_state_publisher,
turtlebot_driver,
Expand Down