From c7c6ec593e65a5b4628667da5218226d46d83d48 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 26 Jun 2025 03:51:17 -0300
Subject: [PATCH] Fix loading of hardware driver.

---
 q2d_bringup/launch/hardware.launch.xml            | 11 +++--------
 q2d_description/launch/display.launch.xml         |  5 ++++-
 q2d_hardware/config/controller_manager.yaml       |  7 -------
 q2d_hardware/launch/controller_manager.launch.xml |  3 ---
 4 files changed, 7 insertions(+), 19 deletions(-)

diff --git a/q2d_bringup/launch/hardware.launch.xml b/q2d_bringup/launch/hardware.launch.xml
index 26d4dd8..f4c9d7a 100644
--- 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="$(find-pkg-share q2d_bringup)/launch/$(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"/>
-	</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"/>
+		<arg name="hardware" value="real_robot"/>
 	</include>
 </launch>
diff --git a/q2d_description/launch/display.launch.xml b/q2d_description/launch/display.launch.xml
index 5848fc0..1d46412 100644
--- a/q2d_description/launch/display.launch.xml
+++ b/q2d_description/launch/display.launch.xml
@@ -21,8 +21,11 @@
 
 <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="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
-	<include file="$(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 $(find-pkg-share q2d_description)/config/display.rviz"/>
 </launch>
diff --git a/q2d_hardware/config/controller_manager.yaml b/q2d_hardware/config/controller_manager.yaml
index 96f4c73..007d189 100644
--- a/q2d_hardware/config/controller_manager.yaml
+++ b/q2d_hardware/config/controller_manager.yaml
@@ -2,10 +2,3 @@ controller_manager:
         ros__parameters:
                 update_rate: 100
                 use_sim_time: false
-
-                group_bypass:
-                        type: effort_controllers/JointGroupEffortController
-
-                joints:
-                        - shoulder_active_joint
-                        - elbow_active_joint
diff --git a/q2d_hardware/launch/controller_manager.launch.xml b/q2d_hardware/launch/controller_manager.launch.xml
index 153f699..f5b099d 100644
--- a/q2d_hardware/launch/controller_manager.launch.xml
+++ b/q2d_hardware/launch/controller_manager.launch.xml
@@ -22,9 +22,6 @@
 <launch>
 	<node name="controller_manager" pkg="controller_manager" exec="ros2_control_node">
 		<param name="robot_description" value="$(command 'xacro $(find-pkg-share q2d_description)/urdf/q2d.urdf hardware:=real_robot')" type="str"/>
-		<param name="use_sim_time" value="false"/>
-		<param name="update_rate" value="100"/>
 		<param from="$(find-pkg-share q2d_hardware)/config/controller_manager.yaml"/>
-		<remap from="controller_manager/commands" to="group_controller/commands"/>
 	</node>
 </launch>
-- 
2.12.0