renamed controllers

kroshu · Nov 10, 2023 · 3f1caae · 3f1caae
1 parent 9fe2f91
commit 3f1caae
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/kuka_sunrise_driver/config/iiwa_ros2_controller_config.yaml b/kuka_sunrise_driver/config/iiwa_ros2_controller_config.yaml
@@ -14,10 +14,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    timing_controller:
-      type: kuka_controllers/TimingController
+    fri_configuration_controller:
+      type: fri_configuration_controller/FRIConfigurationController
 
-    robot_state_broadcaster:
-      type: kuka_controllers/RobotStateBroadcaster
+    fri_state_broadcaster:
+      type: fri_state_broadcaster/FRIStateBroadcaster
 
     configure_components_on_start: [""]
diff --git a/kuka_sunrise_driver/launch/lbr_iiwa7_control.launch.py b/kuka_sunrise_driver/launch/lbr_iiwa7_control.launch.py
@@ -81,13 +81,13 @@ def generate_launch_description():
         Node(
             package="controller_manager",
             executable="spawner",
-            arguments=["timing_controller", "-c",
+            arguments=["fri_configuration_controller", "-c",
                        conntroller_manager_node, "--inactive"]
         ),
         Node(
             package="controller_manager",
             executable="spawner",
-            arguments=["robot_state_broadcaster", "-c",
+            arguments=["fri_state_broadcaster", "-c",
                        conntroller_manager_node, "--inactive"]
         )
     ])
diff --git a/kuka_sunrise_driver/src/robot_manager_node.cpp b/kuka_sunrise_driver/src/robot_manager_node.cpp
@@ -92,7 +92,7 @@ RobotManagerNode::on_configure(const rclcpp_lifecycle::State &)
     std::make_shared<SwitchController::Request>();
   controller_request->strictness = SwitchController::Request::STRICT;
   controller_request->activate_controllers =
-    std::vector<std::string>{"timing_controller", "robot_state_broadcaster"};
+    std::vector<std::string>{"timing_controller", "fri_state_broadcaster"};
   auto controller_response =
     kroshu_ros2_core::sendRequest<SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 3000);
@@ -150,7 +150,7 @@ RobotManagerNode::on_cleanup(const rclcpp_lifecycle::State &)
   controller_request->strictness =
     SwitchController::Request::BEST_EFFORT;
   controller_request->deactivate_controllers =
-    std::vector<std::string>{"timing_controller", "robot_state_broadcaster"};
+    std::vector<std::string>{"fri_configuration_controller", "fri_state_broadcaster"};
   auto controller_response =
     kroshu_ros2_core::sendRequest<SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000);