decouple parameters (#407)

lbr_bringup/launch/gazebo.launch.py

@@ -34,6 +34,16 @@ def generate_launch_description() -> LaunchDescription:
                 default_value="config/initial_joint_positions.yaml",
                 description="The relative path from sys_cfg_pkg to the initial_joint_positions.yaml file.",
             ),
+            DeclareLaunchArgument(
+                name="ctrl_cfg_pkg",
+                default_value="lbr_ros2_control",
+                description="Controller configuration package. The package containing the ctrl_cfg.",
+            ),
+            DeclareLaunchArgument(
+                name="ctrl_cfg",
+                default_value="config/controllers/gazebo.yaml",
+                description="Relative path from ctrl_cfg_pkg to the controllers.",
+            ),
             DeclareLaunchArgument(
                 name="ctrl",
                 default_value="joint_trajectory_controller",
@@ -121,10 +131,13 @@ def generate_launch_description() -> LaunchDescription:
                 executable="spawner",
                 output="screen",
                 arguments=[
-                    "--controller-manager",
-                    "controller_manager",
                     "joint_state_broadcaster",
                     LaunchConfiguration("ctrl"),
+                    "--param-file",
+                    PathSubstitution(
+                        FindPackageShare(LaunchConfiguration("ctrl_cfg_pkg"))
+                    )
+                    / LaunchConfiguration("ctrl_cfg"),
                 ],
                 namespace=LaunchConfiguration("robot_name"),
             ),

lbr_bringup/launch/hardware.launch.py

@@ -110,13 +110,16 @@ def generate_launch_description() -> LaunchDescription:
                 executable="spawner",
                 output="screen",
                 arguments=[
-                    "--controller-manager",
-                    "controller_manager",
                     "joint_state_broadcaster",
                     "estimated_wrench_interface",
                     "lbr_state_broadcaster",
                     "force_torque_broadcaster",
                     LaunchConfiguration("ctrl"),
+                    "--param-file",
+                    PathSubstitution(
+                        FindPackageShare(LaunchConfiguration("ctrl_cfg_pkg"))
+                    )
+                    / LaunchConfiguration("ctrl_cfg"),
                 ],
                 namespace=LaunchConfiguration("namespace"),
             ),

lbr_bringup/launch/mock.launch.py

@@ -109,10 +109,13 @@ def generate_launch_description() -> LaunchDescription:
                 executable="spawner",
                 output="screen",
                 arguments=[
-                    "--controller-manager",
-                    "controller_manager",
                     "joint_state_broadcaster",
                     LaunchConfiguration("ctrl"),
+                    "--param-file",
+                    PathSubstitution(
+                        FindPackageShare(LaunchConfiguration("ctrl_cfg_pkg"))
+                    )
+                    / LaunchConfiguration("ctrl_cfg"),
                 ],
                 namespace=LaunchConfiguration("namespace"),
             ),

lbr_demos/lbr_dual_arm/lbr_dual_arm/config/dual_arm_controllers.yaml

@@ -4,17 +4,14 @@
   ros__parameters:
     update_rate: 100
 
-    # ROS 2 control broadcasters
+    # parameter-free ROS 2 control broadcasters
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    # ROS 2 control controllers
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 # ROS 2 control controllers
 /**/joint_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       # robot one
       - lbr_one_A1

lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/hardware.launch.py

@@ -138,10 +138,12 @@ def generate_launch_description() -> LaunchDescription:
                 executable="spawner",
                 output="screen",
                 arguments=[
-                    "--controller-manager",
-                    "controller_manager",
                     "joint_state_broadcaster",
                     "joint_trajectory_controller",
+                    "--param-file",
+                    PathSubstitution(FindPackageShare("lbr_dual_arm"))
+                    / "config"
+                    / "dual_arm_controllers.yaml",
                 ],
             ),
             IncludeLaunchDescription(

lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/mock.launch.py

@@ -138,10 +138,12 @@ def generate_launch_description() -> LaunchDescription:
                 executable="spawner",
                 output="screen",
                 arguments=[
-                    "--controller-manager",
-                    "controller_manager",
                     "joint_state_broadcaster",
                     "joint_trajectory_controller",
+                    "--param-file",
+                    PathSubstitution(FindPackageShare("lbr_dual_arm"))
+                    / "config"
+                    / "dual_arm_controllers.yaml",
                 ],
             ),
             IncludeLaunchDescription(

lbr_ros2_control/config/controllers/gazebo.yaml

@@ -5,20 +5,14 @@
     update_rate: 100
     enforce_command_limits: true # can be removed from Kilted onward
 
-    # ROS 2 control broadcasters
+    # parameter-free ROS 2 control broadcasters
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    # ROS 2 control controllers
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    forward_position_controller:
-      type: position_controllers/JointGroupPositionController
-
 # ROS 2 control controllers
 /**/joint_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - lbr_A1
       - lbr_A2
@@ -37,6 +31,7 @@
 
 /**/forward_position_controller:
   ros__parameters:
+    type: position_controllers/JointGroupPositionController
     joints:
       - lbr_A1
       - lbr_A2

lbr_ros2_control/config/controllers/hardware.yaml

@@ -5,52 +5,21 @@
     update_rate: 100
     enforce_command_limits: true # can be removed from Kilted onward
 
-    # ROS 2 control broadcasters
+    # parameter-free ROS 2 control broadcasters
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    force_torque_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-
-    # LBR ROS 2 control broadcasters
-    estimated_wrench_interface:
-      type: lbr_ros2_control/EstimatedWrenchInterface
-
-    lbr_state_broadcaster:
-      type: lbr_ros2_control/LBRStateBroadcaster
-
-    # ROS 2 control controllers
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    forward_position_controller:
-      type: position_controllers/JointGroupPositionController
-
-    # LBR ROS 2 control controllers
-    admittance_controller:
-      type: lbr_ros2_control/AdmittanceController
-
-    lbr_joint_position_command_controller:
-      type: lbr_ros2_control/LBRJointPositionCommandController
-
-    lbr_torque_command_controller:
-      type: lbr_ros2_control/LBRTorqueCommandController
-
-    lbr_wrench_command_controller:
-      type: lbr_ros2_control/LBRWrenchCommandController
-
-    twist_controller:
-      type: lbr_ros2_control/TwistController
-
 # ROS 2 control broadcasters
 /**/force_torque_broadcaster:
   ros__parameters:
+    type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
     frame_id: lbr_link_ee # note: frame_id must equal estimated_wrench_interface.wrench_estimator.chain_tip; namespace: https://github.com/ros2/rviz/issues/1103
     sensor_name: estimated_wrench_interface # note: name must equal estimated_wrench_interface node name (chained)
 
 # LBR ROS 2 control broadcasters
 /**/estimated_wrench_interface:
   ros__parameters:
+    type: lbr_ros2_control/EstimatedWrenchInterface
     robot_name: lbr
     wrench_estimator:
       chain_root: lbr_link_0
@@ -65,11 +34,13 @@
 
 /**/lbr_state_broadcaster:
   ros__parameters:
+    type: lbr_ros2_control/LBRStateBroadcaster
     robot_name: lbr
 
 # ROS 2 control controllers
 /**/joint_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - lbr_A1
       - lbr_A2
@@ -88,6 +59,7 @@
 
 /**/forward_position_controller:
   ros__parameters:
+    type: position_controllers/JointGroupPositionController
     joints:
       - lbr_A1
       - lbr_A2
@@ -101,20 +73,24 @@
 # LBR ROS 2 control controllers
 /**/lbr_joint_position_command_controller:
   ros__parameters:
+    type: lbr_ros2_control/LBRJointPositionCommandController
     robot_name: lbr
 
 /**/lbr_torque_command_controller:
   ros__parameters:
+    type: lbr_ros2_control/LBRTorqueCommandController
     robot_name: lbr
 
 /**/lbr_wrench_command_controller:
   ros__parameters:
+    type: lbr_ros2_control/LBRWrenchCommandController
     robot_name: lbr
     max_force_command_norm: 10.0
     max_torque_command_norm: 10.0
 
 /**/admittance_controller:
   ros__parameters:
+    type: lbr_ros2_control/AdmittanceController
     robot_name: lbr
     ft_sensor_name: estimated_wrench_interface # should equal the estimated_wrench_interface node name above
     admittance:
@@ -137,6 +113,7 @@
 
 /**/twist_controller:
   ros__parameters:
+    type: lbr_ros2_control/TwistController
     robot_name: lbr
     inv_jac_ctrl:
       chain_root: lbr_link_0

lbr_ros2_control/config/controllers/mock.yaml

@@ -5,20 +5,14 @@
     update_rate: 100
     enforce_command_limits: true # can be removed from Kilted onward
 
-    # ROS 2 control broadcasters
+    # parameter-free ROS 2 control broadcasters
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    # ROS 2 control controllers
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    forward_position_controller:
-      type: position_controllers/JointGroupPositionController
-
 # ROS 2 control controllers
 /**/joint_trajectory_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - lbr_A1
       - lbr_A2
@@ -37,6 +31,7 @@
 
 /**/forward_position_controller:
   ros__parameters:
+    type: position_controllers/JointGroupPositionController
     joints:
       - lbr_A1
       - lbr_A2