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harmonized controller namespace with real robots #38

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10 changes: 5 additions & 5 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -241,20 +241,20 @@ Then, the arguments _x_, _y_ and _z_ selects the position respect the world fram

#### Control the robot

All the controllers for the robots work with a TwistStamped topic called /namespace/robotnik_base_controller/cmd_vel, the default topic is:
All the controllers for the robots work with a TwistStamped topic called /namespace/robotnik_base_control/cmd_vel, the default topic is:

```sh
/robot/robotnik_base_controller/cmd_vel
/robot/robotnik_base_control/cmd_vel
```
Also it can be used a Twist topic:
```sh
/robot/robotnik_base_controller/cmd_vel_unstamped
/robot/robotnik_base_control/cmd_vel_unstamped
```

This topic will move the robot acording to the velocity demanded but it can be also controller by joint commands, using the topic:

```sh
/robot/robotnik_base_controller/cmd_joint
/robot/robotnik_base_control/cmd_joint
```

Topic type sensor_msgs/msg/JointState.
Expand All @@ -264,7 +264,7 @@ I recommend to use teleop_twist_keyboard to control by cmd_vel:
```sh
sudo apt install ros-jazzy-teleop-twist-keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot/robotnik_base_controller/cmd_vel -p stamped:=true
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot/robotnik_base_control/cmd_vel -p stamped:=true
```

### Mobile robots with manipulators
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4 changes: 2 additions & 2 deletions robotnik_gazebo_ignition/config/rbkairos/rbkairos_controller_params.yaml
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Expand Up @@ -7,7 +7,7 @@
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

robotnik_base_controller:
robotnik_base_control:
type: robotnik_controllers/RBKairosController

joint_trajectory_controller:
Expand Down Expand Up @@ -43,7 +43,7 @@
allow_partial_joints_goal: false
open_loop_control: true

robotnik_base_controller:
robotnik_base_control:
ros__parameters:
use_sim_time: true
publish_rate: 200
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4 changes: 2 additions & 2 deletions robotnik_gazebo_ignition/config/rbrobout/rbrobout_controller_params.yaml
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Expand Up @@ -7,7 +7,7 @@
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

robotnik_base_controller:
robotnik_base_control:
type: robotnik_controllers/RBKairosController

joint_trajectory_controller:
Expand Down Expand Up @@ -44,7 +44,7 @@
allow_partial_joints_goal: false
open_loop_control: true

robotnik_base_controller:
robotnik_base_control:
ros__parameters:
use_sim_time: true
publish_rate: 200
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4 changes: 2 additions & 2 deletions robotnik_gazebo_ignition/config/rbsummit/rbsummit_controller_params.yaml
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Expand Up @@ -7,15 +7,15 @@
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

robotnik_base_controller:
robotnik_base_control:
type: robotnik_controllers/RBSummitController

joint_state_broadcaster:
ros__parameters:
use_sim_time: true
publish_rate: 200

robotnik_base_controller:
robotnik_base_control:
ros__parameters:
use_sim_time: true
publish_rate: 200
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4 changes: 2 additions & 2 deletions robotnik_gazebo_ignition/config/rbtheron/rbtheron_controller_params.yaml
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Expand Up @@ -7,15 +7,15 @@
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

robotnik_base_controller:
robotnik_base_control:
type: robotnik_controllers/RBTheronController

joint_state_broadcaster:
ros__parameters:
use_sim_time: true
publish_rate: 200

robotnik_base_controller:
robotnik_base_control:
ros__parameters:
use_sim_time: true
publish_rate: 200
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4 changes: 2 additions & 2 deletions robotnik_gazebo_ignition/config/rbvogui/rbvogui_controller_params.yaml
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Expand Up @@ -7,15 +7,15 @@
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

robotnik_base_controller:
robotnik_base_control:
type: robotnik_controllers/RBVoguiController

joint_state_broadcaster:
ros__parameters:
use_sim_time: true
publish_rate: 50

robotnik_base_controller:
robotnik_base_control:
ros__parameters:
use_sim_time: true
publish_rate: 50
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2 changes: 1 addition & 1 deletion robotnik_gazebo_ignition/launch/spawn_robot.launch.py
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Expand Up @@ -198,7 +198,7 @@ def generate_launch_description():
robotnik_controller= Node(
package='controller_manager',
executable='spawner',
arguments=['robotnik_base_controller'],
arguments=['robotnik_base_control'],
output='screen',
emulate_tty=True,
namespace=params['namespace']
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