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feat: make ros2 controllers start automatically

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Adds load_ros2_controllers.launch.py
Weird issue where if the update rate on the controller is 10, then the controller manager doesn't respond to requests, but if you set it to 100 (still less than gazebo's rate), then it works...
This commit is contained in:
David
2025-10-10 18:58:30 -05:00
parent 723aa33e3c
commit 676f86bcd0
3 changed files with 133 additions and 15 deletions
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22
src/core_gazebo/launch/core.gazebo.launch.py
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@@ -179,16 +179,16 @@ def generate_launch_description():
condition=IfCondition(use_robot_state_pub)
)
# # Include ROS 2 Controllers launch file if enabled
# load_controllers_cmd = IncludeLaunchDescription(
# PythonLaunchDescriptionSource([
# os.path.join(pkg_share_moveit, 'launch', 'load_ros2_controllers.launch.py')
# ]),
# launch_arguments={
# 'use_sim_time': use_sim_time
# }.items(),
# condition=IfCondition(load_controllers)
# )
# Include ROS 2 Controllers launch file if enabled
load_controllers_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
os.path.join(pkg_share_description, 'launch', 'load_ros2_controllers.launch.py')
]),
launch_arguments={
'use_sim_time': use_sim_time
}.items(),
condition=IfCondition(load_controllers)
)
# Set Gazebo model path - include both models directory and ROS packages
set_env_vars_resources = AppendEnvironmentVariable(
@@ -277,7 +277,7 @@ def generate_launch_description():
ld.add_action(set_env_vars_resources)
ld.add_action(set_env_vars_packages)
ld.add_action(robot_state_publisher_cmd)
# ld.add_action(load_controllers_cmd)
ld.add_action(load_controllers_cmd)
ld.add_action(start_gazebo_cmd)
ld.add_action(start_gazebo_ros_bridge_cmd)
ld.add_action(start_gazebo_ros_image_bridge_cmd)