Add controller name parameter

[delihus]

This PR resolves this issue #187

It is great feature to use the same config file for real and simulated robot, urdf:

<gazebo>
  <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">

    <xacro:if value="${mecanum}">
      <parameters>$(find rosbot_controller)/config/mecanum_drive_controller.yaml</parameters>
    </xacro:if>
    <xacro:unless value="${mecanum}">
      <parameters>$(find rosbot_controller)/config/diff_drive_controller.yaml</parameters>
    </xacro:unless>

    <controller_manager_name>simulation_controller_manager</controller_manager_name>

    <ros>
      <namespace>${gz_control_namespace}</namespace>
      <remapping>rosbot_base_controller/cmd_vel_unstamped:=cmd_vel</remapping>
      <remapping>/tf:=tf</remapping>
    </ros>
  </plugin>
</gazebo>

config:

/**/simulation_controller_manager:
  ros__parameters:
    use_sim_time: True
    update_rate: 20 # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    rosbot_base_controller:
      type: diff_drive_controller/DiffDriveController
    imu_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

/**/controller_manager:
  ros__parameters:
    use_sim_time: False
    update_rate: 20 # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    rosbot_base_controller:
      type: diff_drive_controller/DiffDriveController
    imu_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

[ahcorde]

https://github.com/Mergifyio backport iron master

[mergify]

backport iron master

✅ Backports have been created

• #215 Add controller name parameter (backport #212) has been created for branch iron but encountered conflicts
• #216 Add controller name parameter (backport #212) has been created for branch master but encountered conflicts