Cleanup controller config

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-controls · Sep 7, 2023 · a8f390e · a8f390e
1 parent f396baa
commit a8f390e
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Showing 4 changed files with 4 additions and 15 deletions.
diff --git a/gz_ros2_control_demos/config/cartpole_controller_effort.yaml b/gz_ros2_control_demos/config/cartpole_controller_effort.yaml
@@ -2,19 +2,13 @@ controller_manager:
   ros__parameters:
     update_rate: 1000  # Hz
 
-    effort_controllers:
+    effort_controller:
       type: effort_controllers/JointGroupEffortController
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-effort_controllers:
+effort_controller:
   ros__parameters:
     joints:
       - slider_to_cart
-    command_interfaces:
-      - effort
-    state_interfaces:
-      - position
-      - velocity
-      - effort
diff --git a/gz_ros2_control_demos/config/cartpole_controller_velocity.yaml b/gz_ros2_control_demos/config/cartpole_controller_velocity.yaml
@@ -15,11 +15,6 @@ velocity_controller:
   ros__parameters:
     joints:
       - slider_to_cart
-    command_interfaces:
-      - velocity
-    state_interfaces:
-      - position
-      - velocity
 
 imu_sensor_broadcaster:
   ros__parameters:

diff --git a/gz_ros2_control_demos/examples/example_effort.cpp b/gz_ros2_control_demos/examples/example_effort.cpp
@@ -26,7 +26,7 @@ int main(int argc, char * argv[])
     std::make_shared<rclcpp::Node>("effort_test_node");
 
   auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
-    "/effort_controllers/commands", 10);
+    "/effort_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 

diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -67,7 +67,7 @@ def generate_launch_description():
     )
 
     load_joint_effort_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controllers'],
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'],
         output='screen'
     )