From a04eb5d920b944b3475b53e1ead1c56e19ae58d7 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Wed, 3 Jan 2024 18:42:03 +0000
Subject: [PATCH] [docs] Remove joint_state_controller (#1263) (#1264)

---
 controller_manager/controller_manager/launch_utils.py | 6 +++---
 ros2controlcli/doc/userdoc.rst                        | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/controller_manager/controller_manager/launch_utils.py b/controller_manager/controller_manager/launch_utils.py
index d3f9356eae..e9adfaa50f 100644
--- a/controller_manager/controller_manager/launch_utils.py
+++ b/controller_manager/controller_manager/launch_utils.py
@@ -32,12 +32,12 @@ def generate_load_controller_launch_description(controller_name,
     Examples # noqa: D416
     --------
       # Assuming the controller type and controller parameters are known to the controller_manager
-      generate_load_controller_launch_description('joint_state_controller')
+      generate_load_controller_launch_description('joint_state_broadcaster')
 
       # Passing controller type and controller parameter file to load
       generate_load_controller_launch_description(
-        'joint_state_controller',
-        controller_type='joint_state_controller/JointStateController',
+        'joint_state_broadcaster',
+        controller_type='joint_state_broadcaster/JointStateBroadcaster',
         controller_params_file=os.path.join(get_package_share_directory('my_pkg'),
                                             'config', 'controller_params.yaml')
         )
diff --git a/ros2controlcli/doc/userdoc.rst b/ros2controlcli/doc/userdoc.rst
index bb21b7f005..ce16d237c5 100644
--- a/ros2controlcli/doc/userdoc.rst
+++ b/ros2controlcli/doc/userdoc.rst
@@ -73,7 +73,7 @@ Example output:
 
     $ ros2 control list_controller_types
     diff_drive_controller/DiffDriveController                              controller_interface::ControllerInterface
-    joint_state_controller/JointStateController                            controller_interface::ControllerInterface
+    joint_state_broadcaster/JointStateBroadcaster                          controller_interface::ControllerInterface
     joint_trajectory_controller/JointTrajectoryController                  controller_interface::ControllerInterface