[Spawner] Add support for wildcard entries in the controller param files

[saikishor]

This PR aims to add support for the wildcard entries for the controller config files. This is very helpful, for instance, if we need to load the joint_state_broadcaster or any other controllers to different CM namespaces, we could reuse the configuration of the controllers or broadcaster by just having them with a wildcard. If not, we must generate multiple configuration files for each namespaced controller manager.

I've also added tests to test the same architecture. I've also made some tests with ros2_control_demos, and it works well.

Reference: https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#using-wildcards-in-yaml-files

Earlier approach:

/rrbot_1/position_trajectory_controller:
  ros__parameters:
    type: joint_trajectory_controller/JointTrajectoryController
    joints:
      - joint1
      - joint2

    command_interfaces:
      - position

    state_interfaces:
      - position

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)
  
  /rrbot_2/position_trajectory_controller:
  ros__parameters:
    type: joint_trajectory_controller/JointTrajectoryController
    joints:
      - joint1
      - joint2

    command_interfaces:
      - position

    state_interfaces:
      - position

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)

With this change, we can have one configuration as below and reuse it

/**/position_trajectory_controller:
  ros__parameters:
    type: joint_trajectory_controller/JointTrajectoryController
    joints:
      - joint1
      - joint2

    command_interfaces:
      - position

    state_interfaces:
      - position

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)

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[saikishor]

I've added the reviewers manually, as the Reviewer lottery job is failing

[bmagyar]

Thank you!

[bmagyar]

@saikishor I am wondering though where would it make sense to showcase this feature? Demos?

[saikishor]

@saikishor I am wondering though where would it make sense to showcase this feature? Demos?

Yes @bmagyar ! It totally makes sense.

[saikishor]

@bmagyar I've created an issue to follow-up. I'll take care of it soon, can we get this merged in the meantime :)

[saikishor]

@saikishor I am wondering though where would it make sense to showcase this feature? Demos?

@bmagyar I've added an example in ros2_control_demos: ros-controls/ros2_control_demos#599

[christophfroehlich]

Tested with ros-controls/ros2_control_demos#599

[jcarpinelli-bdai]

Thank you all! @bmagyar do you know yet if this change is planned to eventually be backported to Humble?

[christophfroehlich]

@saikishor is this backportable? we haven't backported the params-file functionality?!

[saikishor]

@saikishor is this backportable? we haven't backported the params-file functionality?!

@christophfroehlich the params-file is probably there in Humble. We can take a look at this once we are back from ROSCon.