Rename position_trajectory_controller to joint_trajectory_controller (backport #190) (#198)

* Rename position_trajectory_controller to joint_trajectory_position_controller (#190)

(cherry picked from commit f43fa8a)

# Conflicts:
#	README.md
#	ros2_control_demo_bringup/launch/rrbot.launch.py
#	ros2_control_demo_bringup/launch/rrbot_base.launch.py

* Revert "Rename position_trajectory_controller to joint_trajectory_position_controller (#190)"

This reverts commit 4225581.

* Use full "--controller-manager" as script argument

* Remove JTC from example_8

* Rename position_trajectory_controller to joint_trajectory_position_controller

---------

Co-authored-by: Haider Lodhi <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>

Author: 3 people

example_1/bringup/config/rrbot_controllers.yaml

@@ -8,7 +8,7 @@ controller_manager:
     forward_position_controller:
       type: forward_command_controller/ForwardCommandController
 
-    position_trajectory_controller:
+    joint_trajectory_position_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
 
@@ -20,7 +20,7 @@ forward_position_controller:
     interface_name: position
 
 
-position_trajectory_controller:
+joint_trajectory_position_controller:
   ros__parameters:
     joints:
       - joint1

example_1/bringup/config/rrbot_joint_trajectory_publisher.yaml

@@ -1,7 +1,7 @@
 publisher_joint_trajectory_controller:
   ros__parameters:
 
-    controller_name: "position_trajectory_controller"
+    controller_name: "joint_trajectory_position_controller"
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]

example_1/bringup/launch/rrbot.launch.py

@@ -79,7 +79,7 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "-c", "/controller_manager"],
+        arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_1/doc/userdoc.rst

@@ -112,9 +112,9 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
    .. code-block:: shell
 
-    ros2 control load_controller position_trajectory_controller
+    ros2 control load_controller joint_trajectory_position_controller
 
-   what should return ``Successfully loaded controller position_trajectory_controller``. Check the status
+   what should return ``Successfully loaded controller joint_trajectory_position_controller``. Check the status
 
    .. code-block:: shell
 
@@ -126,15 +126,15 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
     joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
     forward_position_controller[forward_command_controller/ForwardCommandController] active
-    position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] unconfigured
+    joint_trajectory_position_controller[joint_trajectory_controller/JointTrajectoryController] unconfigured
 
    Configure the controller by setting it ``inactive`` by
 
    .. code-block:: shell
 
-    ros2 control set_controller_state position_trajectory_controller inactive
+    ros2 control set_controller_state joint_trajectory_position_controller inactive
 
-   what should give ``Successfully configured position_trajectory_controller``.
+   what should give ``Successfully configured joint_trajectory_position_controller``.
 
    .. note::
 
@@ -145,9 +145,9 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
    .. code-block:: shell
 
-    ros2 control load_controller position_trajectory_controller --set-state inactive
+    ros2 control load_controller joint_trajectory_position_controller --set-state inactive
 
-   You should get the result ``Successfully loaded controller position_trajectory_controller into state inactive``.
+   You should get the result ``Successfully loaded controller joint_trajectory_position_controller into state inactive``.
 
    See if it loaded properly with
 
@@ -161,20 +161,20 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
     joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
     forward_position_controller[forward_command_controller/ForwardCommandController] active
-    position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] inactive
+    joint_trajectory_position_controller[joint_trajectory_controller/JointTrajectoryController] inactive
 
    Note that the controller is loaded but still ``inactive``. Now you can switch the controller by
 
    .. code-block:: shell
 
     ros2 control set_controller_state forward_position_controller inactive
-    ros2 control set_controller_state position_trajectory_controller active
+    ros2 control set_controller_state joint_trajectory_position_controller active
 
    or simply via this one-line command
 
    .. code-block:: shell
 
-    ros2 control switch_controllers --activate position_trajectory_controller --deactivate forward_position_controller
+    ros2 control switch_controllers --activate joint_trajectory_position_controller --deactivate forward_position_controller
 
    Again, check via
 
@@ -188,7 +188,7 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
     joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
     forward_position_controller[forward_command_controller/ForwardCommandController] inactive
-    position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active
+    joint_trajectory_position_controller[joint_trajectory_controller/JointTrajectoryController] active
 
    Send a command to the controller using demo node, which sends four goals every 6 seconds in a loop:
 

example_2/bringup/launch/diffbot.launch.py

@@ -77,7 +77,7 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+        arguments=["diffbot_base_controller", "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_3/bringup/launch/rrbot_base.launch.py

@@ -175,7 +175,7 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[robot_controller, "-c", "/controller_manager"],
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_4/bringup/launch/rrbot_base.launch.py

@@ -175,7 +175,7 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[robot_controller, "-c", "/controller_manager"],
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_5/bringup/launch/rrbot_base.launch.py

@@ -175,7 +175,7 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[robot_controller, "-c", "/controller_manager"],
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_6/bringup/launch/rrbot_base.launch.py

@@ -175,7 +175,7 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[robot_controller, "-c", "/controller_manager"],
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_8/bringup/config/rrbot_controllers.yaml

@@ -8,36 +8,10 @@ controller_manager:
     forward_position_controller:
       type: forward_command_controller/ForwardCommandController
 
-    position_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 forward_position_controller:
   ros__parameters:
     joints:
       - joint1
       - joint2
     interface_name: position
-
-
-position_trajectory_controller:
-  ros__parameters:
-    joints:
-      - joint1
-      - joint2
-
-    command_interfaces:
-      - position
-
-    state_interfaces:
-      - position
-
-    state_publish_rate: 200.0 # Defaults to 50
-    action_monitor_rate: 20.0 # Defaults to 20
-
-    allow_partial_joints_goal: false # Defaults to false
-    open_loop_control: true
-    allow_integration_in_goal_trajectories: true
-    constraints:
-      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
-      goal_time: 0.0 # Defaults to 0.0 (start immediately)