From 48415abcef8b05739348d9bd5688f4f5b7cd2001 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 20 May 2025 01:40:57 -0300
Subject: [PATCH] Change joint effort controller to group controller.

---
 twil_bringup/config/joint_effort_controller.yaml       | 10 ++--------
 twil_bringup/launch/joint_effort_controller.launch.xml |  9 +++------
 twil_bringup/scripts/test_openloop.sh                  |  6 ++----
 3 files changed, 7 insertions(+), 18 deletions(-)

diff --git a/twil_bringup/config/joint_effort_controller.yaml b/twil_bringup/config/joint_effort_controller.yaml
index d0dd1c2..187cf18 100644
--- a/twil_bringup/config/joint_effort_controller.yaml
+++ b/twil_bringup/config/joint_effort_controller.yaml
@@ -8,14 +8,8 @@ joint_state_broadcaster:
                         - front_caster_base_joint
                         - tower_joint
 
-left_wheel_joint_effort_controller:
+joint_effort_controller:
         ros__parameters:
                 type: forward_command_controller/ForwardCommandController
-                joints: [left_wheel_joint]
-                interface_name: effort
-
-right_wheel_joint_effort_controller:
-        ros__parameters:
-                type: forward_command_controller/ForwardCommandController
-                joints: [right_wheel_joint]
+                joints: [right_wheel_joint, left_wheel_joint]
                 interface_name: effort
diff --git a/twil_bringup/launch/joint_effort_controller.launch.xml b/twil_bringup/launch/joint_effort_controller.launch.xml
index 5e0f4bb..5b5816a 100644
--- a/twil_bringup/launch/joint_effort_controller.launch.xml
+++ b/twil_bringup/launch/joint_effort_controller.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                       Twil Bringup
 	              Joint Effort Controller Launch File
-          Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2014..2025 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -22,11 +22,8 @@
 <launch>
 	<arg name="config" default="$(find-pkg-share twil_bringup)/config/joint_effort_controller.yaml"/>
 	
-	<node name="left_wheel_controller_spawner" pkg="controller_manager" exec="spawner"
-		args="-p $(var config) left_wheel_joint_effort_controller"/>
-
-	<node name="right_wheel_controller_spawner" pkg="controller_manager" exec="spawner"
-		args="-p $(var config) right_wheel_joint_effort_controller"/>
+	<node name="joint_controller_spawner" pkg="controller_manager" exec="spawner"
+		args="-p $(var config) joint_effort_controller"/>
 
 	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
 		args="-p $(var config) joint_state_broadcaster"/>
diff --git a/twil_bringup/scripts/test_openloop.sh b/twil_bringup/scripts/test_openloop.sh
index 60e6df8..0f62399 100755
--- a/twil_bringup/scripts/test_openloop.sh
+++ b/twil_bringup/scripts/test_openloop.sh
@@ -1,6 +1,4 @@
 #!/bin/bash
-ros2 topic pub -1 /left_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [2.0]}'
-ros2 topic pub -1 /right_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [2.0]}'
+ros2 topic pub -1 /joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [2.0, 2.0]}'
 sleep 3
-ros2 topic pub -1 /left_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.0]}'
-ros2 topic pub -1 /right_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.0]}'
+ros2 topic pub -1 /joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.0, 0.0]}'
-- 
2.12.0