Move controller_manager.yaml from q2d_bringup to q2d_description.

diff --git a/q2d_bringup/launch/pid.launch.xml b/q2d_bringup/launch/pid.launch.xml
index 3a46817..98e279f 100644 (file)
--- a/q2d_bringup/launch/pid.launch.xml
+++ b/q2d_bringup/launch/pid.launch.xml
@@ -1,6 +1,6 @@
 <!--******************************************************************************
                           Quanser 2DSFJE Bringup
-                     Group PID Controller Launch File
+                        PID Controller Launch File
           Copyright (C) 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify

diff --git a/q2d_bringup/config/controller_manager.yaml b/q2d_description/config/controller_manager.yaml
similarity index 100%
rename from q2d_bringup/config/controller_manager.yaml
rename to q2d_description/config/controller_manager.yaml

diff --git a/q2d_description/config/gazebo.yaml b/q2d_description/config/gazebo.yaml
index 6aeb5e8..c9cdc3c 100644 (file)
--- a/q2d_description/config/gazebo.yaml
+++ b/q2d_description/config/gazebo.yaml
@@ -1,3 +1,4 @@
 gazebo:
         ros__parameters:
+                # This is the /clock update rate
                 publish_rate: 1000.0

diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index d231ba1..0c9c464 100644 (file)
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -276,7 +276,7 @@
                <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">\r
                        <robot_param>robot_description</robot_param>\r
                        <robot_param_node>robot_state_publisher</robot_param_node>\r
-                       <parameters>$(find q2d_bringup)/config/controller_manager.yaml</parameters>\r
+                       <parameters>$(find q2d_description)/config/controller_manager.yaml</parameters>\r
                </plugin>\r
        </gazebo>\r
 </robot>\r