From 89e2ff45625382bffbf114893cb4700f4c36ad21 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Wed, 9 Oct 2024 15:14:46 +0200
Subject: [PATCH] Improve launch utils to support the multiple controller names
 (#1782)

---
 .../controller_manager/launch_utils.py        | 38 +++++++++++++------
 1 file changed, 27 insertions(+), 11 deletions(-)

diff --git a/controller_manager/controller_manager/launch_utils.py b/controller_manager/controller_manager/launch_utils.py
index ead11a1ec8..4cef8743ac 100644
--- a/controller_manager/controller_manager/launch_utils.py
+++ b/controller_manager/controller_manager/launch_utils.py
@@ -19,8 +19,11 @@
 from launch_ros.actions import Node
 
 
-def generate_load_controller_launch_description(
-    controller_name, controller_type=None, controller_params_file=None, extra_spawner_args=[]
+def generate_controllers_spawner_launch_description(
+    controller_names: list,
+    controller_type=None,
+    controller_params_file=None,
+    extra_spawner_args=[],
 ):
     """
     Generate launch description for loading a controller using spawner.
@@ -32,11 +35,11 @@ def generate_load_controller_launch_description(
     Examples
     --------
       # Assuming the controller type and controller parameters are known to the controller_manager
-      generate_load_controller_launch_description('joint_state_broadcaster')
+      generate_controllers_spawner_launch_description(['joint_state_broadcaster'])
 
-      # Passing controller type and controller parameter file to load
-      generate_load_controller_launch_description(
-        'joint_state_broadcaster',
+      # Passing controller type and parameter file to load the controller
+      generate_controllers_spawner_launch_description(
+        ['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'),
@@ -55,11 +58,13 @@ def generate_load_controller_launch_description(
         description="Wait until the node is interrupted and then unload controller",
     )
 
-    spawner_arguments = [
-        controller_name,
-        "--controller-manager",
-        LaunchConfiguration("controller_manager_name"),
-    ]
+    spawner_arguments = controller_names
+    spawner_arguments.extend(
+        [
+            "--controller-manager",
+            LaunchConfiguration("controller_manager_name"),
+        ]
+    )
 
     if controller_type:
         spawner_arguments += ["--controller-type", controller_type]
@@ -98,3 +103,14 @@ def generate_load_controller_launch_description(
             spawner,
         ]
     )
+
+
+def generate_load_controller_launch_description(
+    controller_name: str, controller_type=None, controller_params_file=None, extra_spawner_args=[]
+):
+    return generate_controllers_spawner_launch_description(
+        controller_names=[controller_name],
+        controller_type=controller_type,
+        controller_params_file=controller_params_file,
+        extra_spawner_args=extra_spawner_args,
+    )