From 37c14a32bac1771ddfc10180ad35ea05e35949c8 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 18 Mar 2022 15:53:00 -0300
Subject: [PATCH] Fix launch files for linearing controllers.

---
 .../adaptive_dynamics_linearizing_controller.launch.xml      | 12 ++++++++----
 .../launch/adaptive_nonsmooth_backstep_controller.launch.xml | 12 +++++++-----
 .../launch/dynamics_linearizing_controller.launch.xml        |  9 +++++++--
 twil_bringup/launch/nonsmooth_backstep_controller.launch.xml |  9 +++++++--
 .../launch/twist_mrac_linearizing_controller.launch.xml      |  9 +++++++--
 5 files changed, 36 insertions(+), 15 deletions(-)

diff --git a/twil_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml b/twil_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml
index a5afa24..5a04b80 100644
--- a/twil_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml
+++ b/twil_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml
@@ -20,10 +20,14 @@
 *******************************************************************************-->
 
 <launch>
-  <node name="ident" pkg="twil_ident" exec="ident">
-	<remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
-  </node>
+	<arg name="config" default="$(find-pkg-share twil_bringup)/config/dynamics_linearizing_controller.yaml"/>
 
-  <include file="$(find-pkg-share twil_bringup)/launch/dynamics_linearizing_controller.launch.xml" />
+	<node name="ident" pkg="twil_ident" exec="ident">
+		<remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
+	</node>
+
+	<include file="$(find-pkg-share twil_bringup)/launch/dynamics_linearizing_controller.launch.xml">
+		<arg name="config" value="$(var config)"/>
+	</include>
 
 </launch>
diff --git a/twil_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml b/twil_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml
index 392a63d..0bfe784 100644
--- a/twil_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml
+++ b/twil_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml
@@ -20,11 +20,13 @@
 *******************************************************************************-->
 
 <launch>
+	<arg name="config" default="$(find-pkg-share twil_bringup)/config/nonsmooth_backstep_controller.yaml"/>
 
-  <node name="ident" eec="twil_ident" type="ident">
-	<remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
-  </node>
-
-  <include file="$(find-pkg-share twil_bringup)/launch/nonsmooth_backstep_controller.launch.xml" />
+	<node name="ident" eec="twil_ident" type="ident">
+		<remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
+	</node>
 
+	<include file="$(find-pkg-share twil_bringup)/launch/nonsmooth_backstep_controller.launch.xml">
+		<arg name="config" value="$(var config)"/>
+	</include>
 </launch>
diff --git a/twil_bringup/launch/dynamics_linearizing_controller.launch.xml b/twil_bringup/launch/dynamics_linearizing_controller.launch.xml
index 94ac674..d21e33a 100644
--- a/twil_bringup/launch/dynamics_linearizing_controller.launch.xml
+++ b/twil_bringup/launch/dynamics_linearizing_controller.launch.xml
@@ -20,6 +20,11 @@
 *******************************************************************************-->
 
 <launch>
-  <node name="controller_spawner" pkg="controller_manager" exec="spawner"
-	args="-t effort_controllers/DynamicsLinearizingController dynamics_linearizing_controller"/>
+	<arg name="config" default="$(find-pkg-share twil_bringup)/config/dynamics_linearizing_controller.yaml"/>
+
+	<node name="controller_spawner" pkg="controller_manager" exec="spawner"
+		args="-t effort_controllers/DynamicsLinearizingController -p $(var config) dynamics_linearizing_controller"/>
+
+	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+		args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
 </launch>
diff --git a/twil_bringup/launch/nonsmooth_backstep_controller.launch.xml b/twil_bringup/launch/nonsmooth_backstep_controller.launch.xml
index 58b169a..44026cf 100644
--- a/twil_bringup/launch/nonsmooth_backstep_controller.launch.xml
+++ b/twil_bringup/launch/nonsmooth_backstep_controller.launch.xml
@@ -20,6 +20,11 @@
 *******************************************************************************-->
 
 <launch>
-  <node name="controller_spawner" pkg="controller_manager" exec="spawner"
-	args="-t effort_controllers/NonSmoothBackstepController nonsmooth_backstep_controller"/>
+	<arg name="config" default="$(find-pkg-share twil_bringup)/config/nonsmooth_backstep_controller.yaml"/>
+
+	<node name="controller_spawner" pkg="controller_manager" exec="spawner"
+		args="-t effort_controllers/NonSmoothBackstepController -p $(var config) nonsmooth_backstep_controller"/>
+
+	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+		args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
 </launch>
diff --git a/twil_bringup/launch/twist_mrac_linearizing_controller.launch.xml b/twil_bringup/launch/twist_mrac_linearizing_controller.launch.xml
index 0b1089e..3cf65f9 100644
--- a/twil_bringup/launch/twist_mrac_linearizing_controller.launch.xml
+++ b/twil_bringup/launch/twist_mrac_linearizing_controller.launch.xml
@@ -20,6 +20,11 @@
 *******************************************************************************-->
 
 <launch>
-  <node name="controller_spawner" pkg="controller_manager" exec="spawner"
-	args="-t effort_controllers/TwistMracLinearizingController twist_mrac_linearizing_controller"/>
+	<arg name="config" default="$(find-pkg-share twil_bringup)/config/twist_mrac_linearizing_controller.yaml"/>
+
+	<node name="controller_spawner" pkg="controller_manager" exec="spawner"
+		args="-t effort_controllers/TwistMracLinearizingController -p $(var config) twist_mrac_linearizing_controller"/>
+
+	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+		args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
 </launch>
-- 
2.12.0