Use rrbot_control_boilerplate configuration

Update the rrbot demo to work with changes from PickNikRobotics/ros_control_boilerplate#27: update `rrbot_control_boilerplate` name, and reuse its configuration and launch configuration files.
tormach · Jan 28, 2019 · 547da1c · 547da1c
1 parent f4573ce
commit 547da1c
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Showing 7 changed files with 15 additions and 119 deletions.
diff --git a/README.md b/README.md
@@ -100,8 +100,8 @@ GUI, set the "Run Mode" to "Roll" for continuous updating:
 The rviz and simulated trajectories are launched identically to the
 `rrbot_control` package:
 
-    roslaunch hal_rrbot_control rrbot_visualize.launch
-    roslaunch hal_rrbot_control rrbot_test_trajectory.launch
+    roslaunch rrbot_control_boilerplate rrbot_visualize.launch
+    roslaunch rrbot_control_boilerplate rrbot_test_trajectory.launch
 
 ### `hal_io` demo
 

diff --git a/hal_rrbot_control/CMakeLists.txt b/hal_rrbot_control/CMakeLists.txt
@@ -4,13 +4,13 @@ project(hal_rrbot_control)
 find_package(
   catkin REQUIRED COMPONENTS
   hal_hw_interface
-  rrbot_control
+  rrbot_control_boilerplate
   )
 
 catkin_package(
   CATKIN_DEPENDS
   hal_hw_interface
-  rrbot_control
+  rrbot_control_boilerplate
   )
 
 install(DIRECTORY config

diff --git a/hal_rrbot_control/config/rrbot_controllers.yaml b/hal_rrbot_control/config/rrbot_controllers.yaml
diff --git a/hal_rrbot_control/launch/hal_rrbot_simulation.launch b/hal_rrbot_control/launch/hal_rrbot_simulation.launch
@@ -11,19 +11,19 @@
   <!-- - Set HAL debug level, 0-5 -->
   <arg name="hal_debug_level" default="1" />
 
-  <group ns="rrbot">		<!-- Same ns as `rrbot_control` package -->
+  <!-- Load example URDF from rrbot_description package -->
+  <param
+      name="robot_description"
+      command="$(find xacro)/xacro --inorder
+               '$(find rrbot_description)/urdf/rrbot.xacro'"
+      />
 
-    <!-- Load example URDF from rrbot_description package -->
-    <param
-	name="robot_description"
-	command="$(find xacro)/xacro --inorder
-                 '$(find rrbot_description)/urdf/rrbot.xacro'"
-	         />
+  <group ns="rrbot">		<!-- Same ns as `rrbot_control` package -->
 
     <!-- Load all settings into ROS parameter server -->
-    <!-- - Joint parameters from rrbot_control package -->
+    <!-- - Joint parameters from rrbot_control_boilerplate package -->
     <rosparam
-	file="$(find hal_rrbot_control)/config/rrbot_controllers.yaml"
+	file="$(find rrbot_control_boilerplate)/config/rrbot_controllers.yaml"
 	command="load"
         />
     <!-- - HAL configuration params -->

diff --git a/hal_rrbot_control/launch/rrbot_test_trajectory.launch b/hal_rrbot_control/launch/rrbot_test_trajectory.launch
diff --git a/hal_rrbot_control/launch/rrbot_visualize.launch b/hal_rrbot_control/launch/rrbot_visualize.launch
diff --git a/hal_rrbot_control/package.xml b/hal_rrbot_control/package.xml
@@ -13,9 +13,9 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>hal_hw_interface</build_depend>
-  <build_depend>rrbot_control</build_depend>
+  <build_depend>rrbot_control_boilerplate</build_depend>
 
   <run_depend>hal_hw_interface</run_depend>
-  <run_depend>rrbot_control</run_depend>
+  <run_depend>rrbot_control_boilerplate</run_depend>
   <run_depend>rrbot_description</run_depend>
 </package>