Added robot state publisher to publish description

Robotic-Decision-Making-Lab · Sep 14, 2024 · 0bad869 · 0bad869
1 parent 922e43e
commit 0bad869
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Showing 3 changed files with 23 additions and 3 deletions.
diff --git a/auv_control_demos/chained_controllers/launch/chaining.launch.py b/auv_control_demos/chained_controllers/launch/chaining.launch.py
@@ -114,12 +114,17 @@ def generate_launch_description():
     )
 
     nodes = [
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            output="both",
+            parameters=[robot_description],
+        ),
         Node(
             package="controller_manager",
             executable="ros2_control_node",
             output="both",
             parameters=[
-                robot_description,
                 PathJoinSubstitution(
                     [
                         FindPackageShare("auv_control_demos"),
@@ -128,6 +133,9 @@ def generate_launch_description():
                     ]
                 ),
             ],
+            remappings=[
+                ("/controller_manager/robot_description", "/robot_description"),
+            ],
         ),
         *delay_thruster_spawners,
         delay_tam_controller_spawner_after_thruster_controller_spawners,

diff --git a/auv_control_demos/individual_controller/launch/individual.launch.py b/auv_control_demos/individual_controller/launch/individual.launch.py
@@ -47,12 +47,17 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                output="both",
+                parameters=[robot_description],
+            ),
             Node(
                 package="controller_manager",
                 executable="ros2_control_node",
                 output="both",
                 parameters=[
-                    robot_description,
                     PathJoinSubstitution(
                         [
                             FindPackageShare("auv_control_demos"),
@@ -61,6 +66,9 @@ def generate_launch_description():
                         ]
                     ),
                 ],
+                remappings=[
+                    ("/controller_manager/robot_description", "/robot_description"),
+                ],
             ),
             Node(
                 package="controller_manager",

diff --git a/auv_control_demos/package.xml b/auv_control_demos/package.xml
@@ -3,7 +3,8 @@
 <package format="3">
   <name>auv_control_demos</name>
   <version>0.0.1</version>
-  <description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
+  <description>Example package that includes demos for using auv_controllers in individual and
+    chained modes</description>
 
   <maintainer email="[email protected]">Colin Mitchell</maintainer>
   <maintainer email="[email protected]">Everardo Gonzalez</maintainer>
@@ -21,6 +22,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>