Loading configuration file

[delihus]

Is it possible to create ros2_control_node in launch or parse configuration via launch not URDF?

The case is to create a multiple robot system with the same robots thus it is needed only one file. Nav2 created great feature to override the namespace with <rosbot_namespace> in yaml files. Here:
https://github.com/ros-planning/navigation2/blob/15c9be0aa5d09dd3be40bb46a66a5175464dd1a4/nav2_bringup/launch/rviz_launch.py#L69
and here:
https://github.com/ros-planning/navigation2/blob/15c9be0aa5d09dd3be40bb46a66a5175464dd1a4/nav2_bringup/params/nav2_multirobot_params_all.yaml#L215

I would like to create the config file which has:

imu_sensor_broadcaster:
  sensor_name: <robot_namespace>imu

use the ReplaceString feature and send the changed configuration file to the ros2_control_node.

[christophfroehlich]

Is it possible to create ros2_control_node in launch or parse configuration via launch not URDF?

No that is not possible with gz_ros2_control, because the plugin creates the controller_manager itself.

Neither it is possible to pass the content of a parameter yaml to the controller_manager, because it passes the parameter file path as node option argument --params-file to the controller's node.

But this is an interesting feature, maybe you can submit a PR to ros2_control with a new argument of the load_controller service, which doesn't pass the file path but a string with the content, which then will be unwrapped to node arguments when creating the controller nodes.