Merge pull request #118 from iche033/iche033/fix_humble_demos

Fix example demos in humble branch

Author: ahcorde

ign_ros2_control/src/ign_ros2_control_plugin.cpp

@@ -355,10 +355,10 @@ void IgnitionROS2ControlPlugin::Configure(
   // setup actuators and mechanism control node.
   // This call will block if ROS is not properly initialized.
   std::string urdf_string;
-  std::vector<hardware_interface::HardwareInfo> control_hardware;
+  std::vector<hardware_interface::HardwareInfo> control_hardware_info;
   try {
     urdf_string = this->dataPtr->getURDF();
-    control_hardware = hardware_interface::parse_control_resources_from_urdf(urdf_string);
+    control_hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf_string);
   } catch (const std::runtime_error & ex) {
     RCLCPP_ERROR_STREAM(
       this->dataPtr->node_->get_logger(),
@@ -381,15 +381,15 @@ void IgnitionROS2ControlPlugin::Configure(
     return;
   }
 
-  for (unsigned int i = 0; i < control_hardware.size(); ++i) {
-    std::string robot_hw_sim_type_str_ = control_hardware[i].hardware_class_type;
+  for (unsigned int i = 0; i < control_hardware_info.size(); ++i) {
+    std::string robot_hw_sim_type_str_ = control_hardware_info[i].hardware_class_type;
     auto ignitionSystem = std::unique_ptr<ign_ros2_control::IgnitionSystemInterface>(
       this->dataPtr->robot_hw_sim_loader_->createUnmanagedInstance(robot_hw_sim_type_str_));
 
     if (!ignitionSystem->initSim(
         this->dataPtr->node_,
         enabledJoints,
-        control_hardware[i],
+        control_hardware_info[i],
         _ecm,
         this->dataPtr->update_rate))
     {
@@ -398,8 +398,14 @@ void IgnitionROS2ControlPlugin::Configure(
       return;
     }
 
-    resource_manager_->import_component(std::move(ignitionSystem), control_hardware[i]);
+    resource_manager_->import_component(std::move(ignitionSystem), control_hardware_info[i]);
+
+    rclcpp_lifecycle::State state(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
+      hardware_interface::lifecycle_state_names::ACTIVE);
+    resource_manager_->set_component_state(control_hardware_info[i].name, state);
   }
+
   // Create the controller manager
   RCLCPP_INFO(this->dataPtr->node_->get_logger(), "Loading controller_manager");
   this->dataPtr->controller_manager_.reset(

ign_ros2_control_demos/launch/cart_example_effort.launch.py

@@ -52,7 +52,7 @@ def generate_launch_description():
     )
 
     ignition_spawn_entity = Node(
-        package='ros_ign_gazebo',
+        package='ros_gz_sim',
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
@@ -61,13 +61,13 @@ def generate_launch_description():
     )
 
     load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'effort_controllers'],
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
         output='screen'
     )
 
@@ -77,7 +77,7 @@ def generate_launch_description():
             PythonLaunchDescriptionSource(
                 [os.path.join(get_package_share_directory('ros_ign_gazebo'),
                               'launch', 'ign_gazebo.launch.py')]),
-            launch_arguments=[('ign_args', [' -r -v 3 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=ignition_spawn_entity,

ign_ros2_control_demos/launch/cart_example_position.launch.py

@@ -52,7 +52,7 @@ def generate_launch_description():
     )
 
     ignition_spawn_entity = Node(
-        package='ros_ign_gazebo',
+        package='ros_gz_sim',
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
@@ -61,13 +61,13 @@ def generate_launch_description():
     )
 
     load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_trajectory_controller'],
         output='screen'
     )
@@ -78,7 +78,7 @@ def generate_launch_description():
             PythonLaunchDescriptionSource(
                 [os.path.join(get_package_share_directory('ros_ign_gazebo'),
                               'launch', 'ign_gazebo.launch.py')]),
-            launch_arguments=[('ign_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=ignition_spawn_entity,

ign_ros2_control_demos/launch/cart_example_velocity.launch.py

@@ -52,7 +52,7 @@ def generate_launch_description():
     )
 
     ignition_spawn_entity = Node(
-        package='ros_ign_gazebo',
+        package='ros_gz_sim',
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
@@ -61,18 +61,18 @@ def generate_launch_description():
     )
 
     load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'velocity_controller'],
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'velocity_controller'],
         output='screen'
     )
 
     load_imu_sensor_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'imu_sensor_broadcaster'],
         output='screen'
     )
@@ -83,7 +83,7 @@ def generate_launch_description():
             PythonLaunchDescriptionSource(
                 [os.path.join(get_package_share_directory('ros_ign_gazebo'),
                               'launch', 'ign_gazebo.launch.py')]),
-            launch_arguments=[('ign_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=ignition_spawn_entity,

ign_ros2_control_demos/launch/diff_drive_example.launch.py

@@ -53,7 +53,7 @@ def generate_launch_description():
     )
 
     ignition_spawn_entity = Node(
-        package='ros_ign_gazebo',
+        package='ros_gz_sim',
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
@@ -62,13 +62,13 @@ def generate_launch_description():
     )
 
     load_joint_state_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
     load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'diff_drive_base_controller'],
         output='screen'
     )
@@ -79,7 +79,7 @@ def generate_launch_description():
             PythonLaunchDescriptionSource(
                 [os.path.join(get_package_share_directory('ros_ign_gazebo'),
                               'launch', 'ign_gazebo.launch.py')]),
-            launch_arguments=[('ign_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=ignition_spawn_entity,