Fix loading of hardware driver.

diff --git a/q2d_bringup/launch/hardware.launch.xml b/q2d_bringup/launch/hardware.launch.xml
index 26d4dd8..f4c9d7a 100644 (file)
--- a/q2d_bringup/launch/hardware.launch.xml
+++ b/q2d_bringup/launch/hardware.launch.xml
@@ -27,18 +27,13 @@
 
        <include file="$(find-pkg-share q2d_hardware)/launch/controller_manager.launch.xml"/>
 
 
        <include file="$(find-pkg-share q2d_hardware)/launch/controller_manager.launch.xml"/>
 

-       <!--include file="$(find-pkg-share q2d_bringup)/launch/$(var controller).launch.xml">
+       <include file="$(find-pkg-share q2d_bringup)/launch/$(var controller).launch.xml">

                <arg name="config" value="$(var config)"/>
                <arg name="use_sim_time" value="false"/>
                <arg name="config" value="$(var config)"/>
                <arg name="use_sim_time" value="false"/>

-       </include-->
-
-       <node name="bypass_controller_spawner" pkg="controller_manager" exec="spawner"
-               args="-p $(var config) $(var controller)"/>
+       </include>

 
 

-       <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
-               args="-p $(find-pkg-share q2d_bringup)/config/joint_state_broadcaster.yaml joint_state_broadcaster"/>
-               

        <include if="$(var gui)" file="$(find-pkg-share q2d_description)/launch/display.launch.xml">
                <arg name="gui" value="false"/>
        <include if="$(var gui)" file="$(find-pkg-share q2d_description)/launch/display.launch.xml">
                <arg name="gui" value="false"/>

+               <arg name="hardware" value="real_robot"/>

        </include>
 </launch>
        </include>
 </launch>

diff --git a/q2d_description/launch/display.launch.xml b/q2d_description/launch/display.launch.xml
index 5848fc0..1d46412 100644 (file)
--- a/q2d_description/launch/display.launch.xml
+++ b/q2d_description/launch/display.launch.xml
@@ -21,8 +21,11 @@
 
 <launch>
        <arg name="gui" default="false"/>
 
 <launch>
        <arg name="gui" default="false"/>

+       <arg name="hardware" default="gazebo"/>

        <node pkg="tf2_ros" exec="static_transform_publisher" name="q2d_origin_publisher" args="--frame-id map --child-frame-id World"/>
        <node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
        <node pkg="tf2_ros" exec="static_transform_publisher" name="q2d_origin_publisher" args="--frame-id map --child-frame-id World"/>
        <node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>

-       <include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml"/>
+       <include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml">
+               <arg name="hardware" value="$(var hardware)"/>
+       </include>

        <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share q2d_description)/config/display.rviz"/>
 </launch>
        <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share q2d_description)/config/display.rviz"/>
 </launch>

diff --git a/q2d_hardware/config/controller_manager.yaml b/q2d_hardware/config/controller_manager.yaml
index 96f4c73..007d189 100644 (file)
--- a/q2d_hardware/config/controller_manager.yaml
+++ b/q2d_hardware/config/controller_manager.yaml
@@ -2,10 +2,3 @@ controller_manager:
         ros__parameters:
                 update_rate: 100
                 use_sim_time: false
         ros__parameters:
                 update_rate: 100
                 use_sim_time: false

-
-                group_bypass:
-                        type: effort_controllers/JointGroupEffortController
-
-                joints:
-                        - shoulder_active_joint
-                        - elbow_active_joint

diff --git a/q2d_hardware/launch/controller_manager.launch.xml b/q2d_hardware/launch/controller_manager.launch.xml
index 153f699..f5b099d 100644 (file)
--- a/q2d_hardware/launch/controller_manager.launch.xml
+++ b/q2d_hardware/launch/controller_manager.launch.xml
@@ -22,9 +22,6 @@
 <launch>
        <node name="controller_manager" pkg="controller_manager" exec="ros2_control_node">
                <param name="robot_description" value="$(command 'xacro $(find-pkg-share q2d_description)/urdf/q2d.urdf hardware:=real_robot')" type="str"/>
 <launch>
        <node name="controller_manager" pkg="controller_manager" exec="ros2_control_node">
                <param name="robot_description" value="$(command 'xacro $(find-pkg-share q2d_description)/urdf/q2d.urdf hardware:=real_robot')" type="str"/>

-               <param name="use_sim_time" value="false"/>
-               <param name="update_rate" value="100"/>

                <param from="$(find-pkg-share q2d_hardware)/config/controller_manager.yaml"/>
                <param from="$(find-pkg-share q2d_hardware)/config/controller_manager.yaml"/>

-               <remap from="controller_manager/commands" to="group_controller/commands"/>

        </node>
 </launch>
        </node>
 </launch>