franka_control.launch: Start ROS controllers in correct namespace

larics · Apr 7, 2022 · 44f7f75 · 44f7f75
1 parent a0f0190
commit 44f7f75
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/launch/franka_control.launch b/launch/franka_control.launch
@@ -2,8 +2,11 @@
 <launch>
   <!-- Launch real-robot control -->
   <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
+
   <!-- By default use joint position controllers -->
   <arg name="transmission" default="position" />
+  <!-- Start ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
 
   <!-- as well as MoveIt demo -->
   <include file="$(dirname)/demo.launch" pass_all_args="true">

diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch
@@ -5,6 +5,6 @@
   <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"  subst_value="true"/>
 
   <!-- Load and start the controllers -->
-  <node ns="/$(arg arm_id)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
         args="$(arg transmission)_joint_trajectory_controller" />
 </launch>
diff --git a/launch/simple_moveit_controller_manager.launch.xml b/launch/simple_moveit_controller_manager.launch.xml
@@ -4,6 +4,4 @@
 
   <!-- Load controller list to the parameter server -->
   <rosparam subst_value="true" file="$(find panda_moveit_config)/config/simple_moveit_controllers.yaml" />
-  <!-- Start ROS controllers -->
-  <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
 </launch>