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Add controller name parameter (backport #212) #216

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merged 2 commits into from
Jan 3, 2024
Merged

Add controller name parameter (backport #212) #216

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28a9098
Add controller name parameter (#212)
delihus Jan 3, 2024
d2d700f
fix mergify
ahcorde Jan 3, 2024
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5 changes: 5 additions & 0 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -297,6 +297,11 @@ void GazeboSimROS2ControlPlugin::Configure(

// Get controller manager node name
std::string controllerManagerNodeName{"controller_manager"};

if (sdfPtr->HasElement("controller_manager_name")) {
controllerManagerNodeName = sdfPtr->GetElement("controller_manager_name")->Get<std::string>();
}

std::string ns = "/";

// Hold joints if no control mode is active?
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