[Templates] Optimize how MockHW usage and README is. (#184)

templates/ros2_control/append_to_MAIN_README.md

@@ -0,0 +1,22 @@
+
+
+## Running MockHW
+> **NOTE:** If you are not familiar with ros2_control check the docs for some [useful examples](https://control.ros.org/master/doc/ros2_control_demos/doc/index.html) and [additional information](https://control.ros.org/master/doc/getting_started/getting_started.html).
+
+To test the mock hardware with standard controllers we first start the bringup with the mock hardware enabled:
+```
+ros2 launch dte_ea_bringup dte_ea_1000.launch.xml use_mock_hardware:=true
+```
+In a second terminal we then publish goals for the jtc:
+```
+ros2 launch dte_ea_bringup test_joint_trajectory_controller.launch.xml
+```
+
+After stopping the goal publisher, you can deactivate `JointTrajectoryController`, and activate `ForwardPositionController`:
+```
+ros2 control switch_controllers --activate forward_position_controller --deactivate joint_trajectory_controller
+```
+After successful controller switch, start goal publisher for another controller:
+```
+ros2 launch dte_ea_bringup test_forward_position_controller.launch.xml
+```

templates/ros2_control/append_to_README.md

@@ -33,7 +33,7 @@ Consult the repository and [ros2_control documentation](https://ros-controls.git
 
 1. Start robot's hardware and load controllers (default configuration starts mock hardware)
    ```
-   ros2 launch $PKG_NAME$ $ROBOT_NAME$.launch.py
+   ros2 launch $PKG_NAME$ $ROBOT_NAME$.launch.xml
    ```
 
 2. Open another terminal and check if your hardware is loaded properly:

templates/ros2_control/robot_ros2_control.launch.xml

@@ -45,6 +45,9 @@ Authors: Riyan Jose, Manuel Muth, Dr. Denis
   <arg name="robot_controller"
        default="forward_position_controller"
        description="Robot controller to start. Choices are: [forward_position_controller, joint_trajectory_controller]."/>
+  <arg name="inactive_robot_controller"
+       default="forward_position_controller"
+       description="Robot controller to start inactive. Choices are: [forward_position_controller, joint_trajectory_controller]."/>
 
   <let name="robot_description_content" value="$(command '$(find-exec xacro) $(find-pkg-share $(var description_package))/urdf/$(var description_file).urdf.xacro prefix:=$(var prefix) use_mock_hardware:=$(var use_mock_hardware) mock_sensor_commands:=$(var mock_sensor_commands)')"/>
 
@@ -69,4 +72,7 @@ Authors: Riyan Jose, Manuel Muth, Dr. Denis
   <!--robot_controller_spawner-->
   <node pkg="controller_manager" exec="spawner" args="$(var robot_controller)"/>
 
+  <!--robot_controller_spawner-->
+  <node pkg="controller_manager" exec="spawner" args="$(var inactive_robot_controller) --inactive"/>
+
 </launch>