hardware_components_initial_state doesn't work #1128
Description
Hi all,
I would to launch ros2_control_node having my hardware component on inactive state as first state.
I read the documentation at https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html that works like
hardware_components_initial_state:
unconfigured:
- "arm1"
- "arm2"
inactive:
- "base3"
and my ros2_control description looks like:
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="awtube_ros2_control"
params="use_fake_hardware:=^|true robot_id:=^|awtube brand:=^|synapticon mode_of_op:=^|8">
<ros2_control name="AwTubeSystem" type="system">
<hardware>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<plugin>ethercat_driver/EthercatDriver</plugin>
<param name="master_id">0</param>
<param name="control_frequency">1000</param>
</xacro:unless>
</hardware>
.
.
.
</ros2_control>
</xacro:macro>
</robot>
When writing in my ros2_controller.yam the following code, controllers go immediately in the activate state, and do not stop in the inactive. What am I doing wrong?
controller_manager:
ros__parameters:
update_rate: 1000
hardware_components_initial_state:
inactive:
- AwTubeSystem
Thanks