MSA: Rework ROS controllers config#2945
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rhaschke merged 12 commits intomoveit:masterfrom Nov 5, 2021
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We should write separate controller config files for different controller managers: - simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager - ros_controllers.yaml handles ros_control config - gazebo_controllers.yaml handles controllers required for Gazebo
- Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager) - Use effort_controllers/JointTrajectoryController as default - Create FollowJointTrajectory entries for any JointTrajectoryController
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The generation of ros_controllers.yaml is screwed since the very beginning (#994).
Primarily, the approach mixed up controller configs for different MoveIt controller managers. Now we separate them:
simple_moveit_controllers.yamlhandles everything relevant for SimpleMoveItControllerManagerros_controllers.yamlhandles ros_control configgazebo_controllers.yamlhandles controllers required for Gazebo (namelyjoint_state_controllerto publish joints)Most commits do code refactoring to generalize naming from ROS controllers.