From dc3ef18a999af8a578e780cc110a05ef37681077 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 29 Sep 2021 19:19:45 -0300
Subject: [PATCH] Move controller_manager.yaml from q2d_bringup to
 q2d_description.

---
 q2d_bringup/launch/pid.launch.xml                               | 2 +-
 {q2d_bringup => q2d_description}/config/controller_manager.yaml | 0
 q2d_description/config/gazebo.yaml                              | 1 +
 q2d_description/urdf/q2d.urdf                                   | 2 +-
 4 files changed, 3 insertions(+), 2 deletions(-)
 rename {q2d_bringup => q2d_description}/config/controller_manager.yaml (100%)

diff --git a/q2d_bringup/launch/pid.launch.xml b/q2d_bringup/launch/pid.launch.xml
index 3a46817..98e279f 100644
--- 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
--- 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
--- 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">
 			<robot_param>robot_description</robot_param>
 			<robot_param_node>robot_state_publisher</robot_param_node>
-			<parameters>$(find q2d_bringup)/config/controller_manager.yaml</parameters>
+			<parameters>$(find q2d_description)/config/controller_manager.yaml</parameters>
 		</plugin>
 	</gazebo>
 </robot>
-- 
2.12.0