How do I use the same controller_manager yaml file to load controllers for diffferent robots with different names using group tags?

asked 2019-12-09 17:08:26 -0600

Patrick Musau gravatar image

I might be missing something. When you spawn multiple robots in simulation can you use the same yaml file to load a controller manager for each robot. Or do you need to have one yaml file per robot in order to load them correctly. I managed to spawn the robots independently using group tags but I wasn't sure what the correct way to load controller managers is. Thanks in advance for all your help.

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Comments

One way could be to use roslaunch substitution args in your .yaml file. See #q339328 for a recent Q&A about that.

Perhaps if you could provide somewhat of a more concrete example we could suggest better/other approaches.

gvdhoorn gravatar imagegvdhoorn ( 2019-12-09 17:21:17 -0600 )edit

In theory if you add to your yaml the namespaces like this (correct me if I am mistaken):

ns_1:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
ns_2:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
ns_3:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

you should be able to load the controllers config in each namespace. However this approach is more hardcoded than the one proposed by @gvdhoorn.

Weasfas gravatar imageWeasfas ( 2019-12-10 05:15:52 -0600 )edit