Spawn all controllers with different options from one spawner

example_16/bringup/config/diffbot_chained_controllers.yaml → example_16/bringup/config/diff_drive_controller.yaml

@@ -1,52 +1,6 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 10  # Hz
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    pid_controller_left_wheel_joint:
-      type: pid_controller/PidController
-
-    pid_controller_right_wheel_joint:
-      type: pid_controller/PidController
-
-    diffbot_base_controller:
-      type: diff_drive_controller/DiffDriveController
-
-
-pid_controller_left_wheel_joint:
-  ros__parameters:
-
-    dof_names:
-      - left_wheel_joint
-
-    command_interface: velocity
-
-    reference_and_state_interfaces:
-      - velocity
-
-    gains:
-      # control the velocity, no d term
-      left_wheel_joint: {"p": 0.5, "i": 2.5, "d": 0.0, "i_clamp_min": -20.0, "i_clamp_max": 20.0, "antiwindup": true, "feedforward_gain": 0.95}
-
-pid_controller_right_wheel_joint:
-  ros__parameters:
-
-    dof_names:
-      - right_wheel_joint
-
-    command_interface: velocity
-
-    reference_and_state_interfaces:
-      - velocity
-
-    gains:
-      # control the velocity, no d term
-      right_wheel_joint: {"p": 0.5, "i": 2.5, "d": 0.0, "i_clamp_min": -20.0, "i_clamp_max": 20.0, "antiwindup": true, "feedforward_gain": 0.95}
-
 diffbot_base_controller:
   ros__parameters:
+    type: diff_drive_controller/DiffDriveController
 
     left_wheel_names: ["pid_controller_left_wheel_joint/left_wheel_joint"]
     right_wheel_names: ["pid_controller_right_wheel_joint/right_wheel_joint"]

example_16/bringup/config/diffbot_cm.yaml

@@ -0,0 +1,6 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 10  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster

example_16/bringup/config/pid_controllers.yaml

@@ -0,0 +1,31 @@
+pid_controller_left_wheel_joint:
+  ros__parameters:
+    type: pid_controller/PidController
+
+    dof_names:
+      - left_wheel_joint
+
+    command_interface: velocity
+
+    reference_and_state_interfaces:
+      - velocity
+
+    gains:
+      # control the velocity, no d term
+      left_wheel_joint: {"p": 0.5, "i": 2.5, "d": 0.0, "i_clamp_min": -20.0, "i_clamp_max": 20.0, "antiwindup": true, "feedforward_gain": 0.95}
+
+pid_controller_right_wheel_joint:
+  ros__parameters:
+    type: pid_controller/PidController
+
+    dof_names:
+      - right_wheel_joint
+
+    command_interface: velocity
+
+    reference_and_state_interfaces:
+      - velocity
+
+    gains:
+      # control the velocity, no d term
+      right_wheel_joint: {"p": 0.5, "i": 2.5, "d": 0.0, "i_clamp_min": -20.0, "i_clamp_max": 20.0, "antiwindup": true, "feedforward_gain": 0.95}

example_16/bringup/launch/diffbot.launch.py

@@ -46,7 +46,7 @@ def generate_launch_description():
                 parameters=[
                     PathSubstitution(FindPackageShare("ros2_control_demo_example_16"))
                     / "config"
-                    / "diffbot_chained_controllers.yaml"
+                    / "diffbot_cm.yaml"
                 ],
                 output="both",
             ),
@@ -91,14 +91,38 @@ def generate_launch_description():
                 executable="spawner",
                 name="controller_spawner",
                 arguments=[
+                    "--controller",
                     "joint_state_broadcaster",
-                    "pid_controller_left_wheel_joint",
+                    "--param-file",
+                    [
+                        PathSubstitution(FindPackageShare("ros2_control_demo_example_16"))
+                        / "config"
+                        / "diffbot_cm.yaml"
+                    ],
+                    "--controller",
                     "pid_controller_right_wheel_joint",
+                    "--param-file",
+                    [
+                        PathSubstitution(FindPackageShare("ros2_control_demo_example_16"))
+                        / "config"
+                        / "pid_controllers.yaml",
+                    ],
+                    "--controller",
+                    "pid_controller_left_wheel_joint",
+                    "--param-file",
+                    [
+                        PathSubstitution(FindPackageShare("ros2_control_demo_example_16"))
+                        / "config"
+                        / "pid_controllers.yaml",
+                    ],
+                    "--controller",
                     "diffbot_base_controller",
                     "--param-file",
-                    PathSubstitution(FindPackageShare("ros2_control_demo_example_16"))
-                    / "config"
-                    / "diffbot_chained_controllers.yaml",
+                    [
+                        PathSubstitution(FindPackageShare("ros2_control_demo_example_16"))
+                        / "config"
+                        / "diff_drive_controller.yaml",
+                    ],
                     "--controller-ros-args",
                     "-r /diffbot_base_controller/cmd_vel:=/cmd_vel",
                 ],