fix: correctly spawn controllers

models was commented out in CMakeLists.txt because it is currently an empty directory, but will be used at a later point

src/core_gazebo/CMakeLists.txt

@@ -17,7 +17,7 @@ find_package(xacro REQUIRED)
 
 # Copy necessary files to designated locations in the project
 install (
-  DIRECTORY config launch models worlds
+  DIRECTORY config launch worlds  # models
   DESTINATION share/${PROJECT_NAME}
 )
 

src/core_gazebo/launch/core.gazebo.launch.py

@@ -180,14 +180,11 @@ def generate_launch_description():
     )
 
     # Include ROS 2 Controllers launch file if enabled
-    load_controllers_cmd = IncludeLaunchDescription(
+    load_controllers_cmd = Node(
-        PythonLaunchDescriptionSource([
+        package='controller_manager',
-            os.path.join(pkg_share_description, 'launch', 'load_ros2_controllers.launch.py')
+        executable='spawner',
-        ]),
+        arguments=['joint_broadcaster', 'diff_controller', '--controller-manager-timeout', '10'],
-        launch_arguments={
+        output='screen'
-            'use_sim_time': use_sim_time
-        }.items(),
-        condition=IfCondition(load_controllers)
     )
 
     # Set Gazebo model path - include both models directory and ROS packages

src/core_rover_description/config/ros2_controllers.yaml

@@ -1,7 +1,6 @@
 controller_manager:
   ros__parameters:
     update_rate: 100
-    use_sim_time: true
 
     diff_controller:
       type: diff_drive_controller/DiffDriveController

src/core_rover_description/launch/load_ros2_controllers.launch.py

@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-"""
-Launch ROS 2 controllers for the rover.
-
-This script creates a launch description that starts the necessary controllers
-for operating the rover's differential drive system in a specific sequence.
-
-Launched Controllers:
-    1. Joint State Broadcaster: Publishes joint states to /joint_states
-    2. Diff Drive Controller: Controls the rover's differential drive movement
-
-Launch Sequence:
-    1. Wait 5 seconds for Gazebo and controller manager to initialize
-    2. Load Joint State Broadcaster (unconfigured state)
-    3. Configure Joint State Broadcaster (unconfigured -> inactive)
-    4. Activate Joint State Broadcaster (inactive -> active)
-    5. Load Diff Drive Controller (unconfigured state)
-    6. Configure Diff Drive Controller (unconfigured -> inactive)
-    7. Activate Diff Drive Controller (inactive -> active)
-
-Note: ROS2 controllers follow the state machine: unconfigured -> inactive -> active.
-Each state transition must be done explicitly.
-"""
-
-from launch import LaunchDescription
-from launch.actions import ExecuteProcess, RegisterEventHandler, TimerAction
-from launch.event_handlers import OnProcessExit
-
-
-def generate_launch_description():
-    """Generate a launch description for loading, configuring and activating robot controllers.
-
-    Controllers follow the ROS2 control state machine: unconfigured -> inactive -> active.
-    Each transition must be done explicitly in sequence.
-
-    Returns:
-        LaunchDescription: Launch description containing sequenced controller state transitions
-    """
-
-    # Load joint state broadcaster first
-    load_joint_state_broadcaster_cmd = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', 'joint_broadcaster'],
-        output='screen')
-
-    # Configure joint state broadcaster (unconfigured -> inactive)
-    configure_joint_state_broadcaster_cmd = ExecuteProcess(
-        cmd=['ros2', 'control', 'set_controller_state', 'joint_broadcaster', 'inactive'],
-        output='screen')
-
-    # Activate joint state broadcaster (inactive -> active)
-    start_joint_state_broadcaster_cmd = ExecuteProcess(
-        cmd=['ros2', 'control', 'set_controller_state', 'joint_broadcaster', 'active'],
-        output='screen')
-
-    # Load diff drive controller
-    load_diff_drive_controller_cmd = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', 'diff_controller'],
-        output='screen')
-
-    # Configure diff drive controller (unconfigured -> inactive)
-    configure_diff_drive_controller_cmd = ExecuteProcess(
-        cmd=['ros2', 'control', 'set_controller_state', 'diff_controller', 'inactive'],
-        output='screen')
-
-    # Activate diff drive controller (inactive -> active)
-    start_diff_drive_controller_cmd = ExecuteProcess(
-        cmd=['ros2', 'control', 'set_controller_state', 'diff_controller', 'active'],
-        output='screen')
-
-    # Add delay to allow controller manager to fully initialize
-    delayed_start = TimerAction(
-        period=5.0,
-        actions=[load_joint_state_broadcaster_cmd]
-    )
-
-    # Register event handlers for sequencing
-    # Configure joint state broadcaster after loading it (unconfigured -> inactive)
-    configure_joint_broadcaster_event = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=load_joint_state_broadcaster_cmd,
-            on_exit=[configure_joint_state_broadcaster_cmd]))
-
-    # Activate joint state broadcaster after configuring it (inactive -> active)
-    activate_joint_broadcaster_event = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=configure_joint_state_broadcaster_cmd,
-            on_exit=[start_joint_state_broadcaster_cmd]))
-
-    # Load diff controller after joint state broadcaster is activated
-    load_diff_controller_event = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=start_joint_state_broadcaster_cmd,
-            on_exit=[load_diff_drive_controller_cmd]))
-
-    # Configure diff controller after loading it (unconfigured -> inactive)
-    configure_diff_controller_event = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=load_diff_drive_controller_cmd,
-            on_exit=[configure_diff_drive_controller_cmd]))
-
-    # Activate diff controller after configuring it (inactive -> active)
-    activate_diff_controller_event = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=configure_diff_drive_controller_cmd,
-            on_exit=[start_diff_drive_controller_cmd]))
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Add the actions to the launch description in sequence
-    ld.add_action(delayed_start)
-    ld.add_action(configure_joint_broadcaster_event)
-    ld.add_action(activate_joint_broadcaster_event)
-    ld.add_action(load_diff_controller_event)
-    ld.add_action(configure_diff_controller_event)
-    ld.add_action(activate_diff_controller_event)
-
-    return ld

src/core_rover_description/urdf/core_rover.urdf

@@ -10,7 +10,7 @@
   <joint name="dummy_base_link_joint" type="fixed">
     <parent link="dummy_base_link"/>
     <child link="base_link"/>
-    <origin xyz="0 0 0.35" rpy="0 0 1.5707963267948966"/>
+    <origin xyz="0 0 0.38" rpy="0 0 1.5707963267948966"/>
     <axis xyz="0 0 0"/>
   </joint>