rename streaming_controller to servo_controller

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
PickNikRobotics · Jan 23, 2024 · 89fe3f3 · 89fe3f3
1 parent 7ae8298
commit 89fe3f3
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Showing 9 changed files with 12 additions and 12 deletions.
diff --git a/src/picknik_ur_base_config/config/config.yaml b/src/picknik_ur_base_config/config/config.yaml
@@ -187,7 +187,7 @@ ros2_control:
     - "force_torque_sensor_broadcaster"
     - "robotiq_gripper_controller"
     - "joint_state_broadcaster"
-    - "streaming_controller"
+    - "servo_controller"
     - "io_and_status_controller"
     - "robotiq_activation_controller"
   # Load but do not start these controllers so they can be activated later if needed.

diff --git a/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml
@@ -13,7 +13,7 @@ controller_manager:
       type: position_controllers/GripperActionController
     robotiq_activation_controller:
       type: robotiq_controllers/RobotiqActivationController
-    streaming_controller:
+    servo_controller:
       type: joint_trajectory_controller/JointTrajectoryController
     admittance_controller_open_door:
       type: admittance_controller/AdmittanceController
@@ -118,7 +118,7 @@ joint_trajectory_controller_chained_open_door:
       wrist_3_joint:
         goal: 0.25
 
-streaming_controller:
+servo_controller:
   ros__parameters:
     joints:
       - shoulder_pan_joint

diff --git a/src/picknik_ur_base_config/config/moveit/ur_servo.yaml b/src/picknik_ur_base_config/config/moveit/ur_servo.yaml
@@ -53,7 +53,7 @@ cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian t
 joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
 joint_topic: /joint_states
 status_topic: ~/status # Publish status to this topic
-command_out_topic: /streaming_controller/joint_trajectory # Publish outgoing commands here
+command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?

diff --git a/src/picknik_ur_base_config/objectives/teleoperate_joint_jog.xml b/src/picknik_ur_base_config/objectives/teleoperate_joint_jog.xml
@@ -2,7 +2,7 @@
 <root BTCPP_format="4" main_tree_to_execute="Teleoperate Joint Jog">
     <BehaviorTree ID="Teleoperate Joint Jog" _description="Teleoperate the robot in joint jog mode from the Web UI">
         <Control ID="Sequence" name="root">
-            <Action ID="TeleoperateJointJog" controller_name="streaming_controller"/>
+            <Action ID="TeleoperateJointJog" controller_name="servo_controller"/>
         </Control>
     </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/teleoperate_twist.xml b/src/picknik_ur_base_config/objectives/teleoperate_twist.xml
@@ -2,7 +2,7 @@
 <root BTCPP_format="4" main_tree_to_execute="Teleoperate Twist">
     <BehaviorTree ID="Teleoperate Twist" _description="Teleoperate the robot in Cartesian twist mode from the Web UI">
         <Control ID="Sequence" name="root">
-            <Action ID="TeleoperateTwist" controller_name="streaming_controller"/>
+            <Action ID="TeleoperateTwist" controller_name="servo_controller"/>
         </Control>
     </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_gazebo_config/config/config.yaml b/src/picknik_ur_gazebo_config/config/config.yaml
@@ -88,7 +88,7 @@ octomap_manager:
 ros2_control:
   controllers_active_at_startup:
     - "joint_state_broadcaster"
-    - "streaming_controller"
+    - "servo_controller"
     - "robotiq_gripper_controller"
   controllers_inactive_at_startup:
     - "joint_trajectory_controller"

diff --git a/src/picknik_ur_gazebo_config/config/control/picknik_ur5e.ros2_control.yaml b/src/picknik_ur_gazebo_config/config/control/picknik_ur5e.ros2_control.yaml
@@ -7,7 +7,7 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
     robotiq_gripper_controller:
       type: position_controllers/GripperActionController
-    streaming_controller:
+    servo_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
 joint_trajectory_controller:
@@ -50,7 +50,7 @@ joint_trajectory_controller:
       wrist_3_joint:
         goal: 0.05
 
-streaming_controller:
+servo_controller:
   ros__parameters:
     joints:
       - shoulder_pan_joint

diff --git a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
@@ -176,8 +176,8 @@
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
       <parameters>$(find picknik_ur_gazebo_config)/config/control/picknik_ur5e.ros2_control.yaml</parameters>
       <ros>
-        <remapping>/streaming_controller/commands:=/robot_controllers/commands</remapping>
-        <remapping>/streaming_controller/joint_trajectory:=/robot_controllers/joint_trajectory</remapping>
+        <remapping>/servo_controller/commands:=/robot_controllers/commands</remapping>
+        <remapping>/servo_controller/joint_trajectory:=/robot_controllers/joint_trajectory</remapping>
       </ros>
     </plugin>
   </gazebo>

diff --git a/src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml b/src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml
@@ -51,7 +51,7 @@ cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian t
 joint_command_in_topic: ~/delta_joint_cmds  # Topic for incoming joint angle commands
 joint_topic: /joint_states
 status_topic: ~/status  # Publish status to this topic
-command_out_topic: /streaming_controller/joint_trajectory # Publish outgoing commands here
+command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
 check_collisions: true  # Check collisions?