Ex10: use gpio_command_controller (#627) (#713)

* Remove controller and use upstream one * Fix error messages * Fix last demo section * Use fork for ros2_controllers * Fix CMakeLists and deps * Use upstream ros2_controllers * Update docs with latest changes of controller * Update with new message type * Switch to master branch of ros2_control * Remove old controller from pluginlib xml * Use released ros2_controllers Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls · Feb 1, 2025 · 7a5b290 · 7a5b290
1 parent ab5a910
commit 7a5b290
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Showing 8 changed files with 126 additions and 283 deletions.
diff --git a/example_10/CMakeLists.txt b/example_10/CMakeLists.txt
@@ -16,7 +16,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   pluginlib
   rclcpp
   rclcpp_lifecycle
-  controller_interface
 )
 
 # find dependencies
@@ -31,12 +30,10 @@ add_library(
   ros2_control_demo_example_10
   SHARED
   hardware/rrbot.cpp
-  controllers/gpio_controller.cpp
 )
 target_compile_features(ros2_control_demo_example_10 PUBLIC cxx_std_17)
 target_include_directories(ros2_control_demo_example_10 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
-$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_10>
 )
 ament_target_dependencies(
@@ -46,18 +43,12 @@ ament_target_dependencies(
 
 # Export hardware plugins
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_10.xml)
-# Export controllers
-pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_10.xml)
 
 # INSTALL
 install(
   DIRECTORY hardware/include/
   DESTINATION include/ros2_control_demo_example_10
 )
-install(
-  DIRECTORY controllers/include/
-  DESTINATION include/ros2_control_demo_example_10
-)
 install(
   DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_10

diff --git a/example_10/bringup/config/rrbot_controllers.yaml b/example_10/bringup/config/rrbot_controllers.yaml
@@ -9,7 +9,7 @@ controller_manager:
       type: forward_command_controller/ForwardCommandController
 
     gpio_controller:
-      type: ros2_control_demo_example_10/GPIOController
+      type: gpio_controllers/GpioCommandController
 
 
 forward_position_controller:
@@ -21,11 +21,13 @@ forward_position_controller:
 
 gpio_controller:
   ros__parameters:
-    inputs:
-     - flange_analog_IOs/analog_output1
-     - flange_analog_IOs/analog_input1
-     - flange_analog_IOs/analog_input2
-     - flange_vacuum/vacuum
-    outputs:
-     - flange_analog_IOs/analog_output1
-     - flange_vacuum/vacuum
+    gpios:
+      - flange_analog_IOs
+      - flange_vacuum
+    command_interfaces:
+      flange_analog_IOs:
+        - interfaces:
+          - analog_output1
+      flange_vacuum:
+        - interfaces:
+          - vacuum
diff --git a/example_10/controllers/gpio_controller.cpp b/example_10/controllers/gpio_controller.cpp
diff --git a/example_10/controllers/include/ros2_control_demo_example_10/gpio_controller.hpp b/example_10/controllers/include/ros2_control_demo_example_10/gpio_controller.hpp