ros2_control_node via composition

[mhubii]

From the CMake it appears the ros2_control_node is compiled into an executable, refer

ros2_control/controller_manager/CMakeLists.txt

Line 42 in 54ced2a

add_executable(ros2_control_node src/ros2_control_node.cpp)

Are there plans to provide composition in the future?

[mateusmenezes95]

The ros2_control offers the ros2_control_node as start point and user friendly to run the ros2_control stuffs. However, nothing stops you from creating your own node. Take a look in the ros2_control_node.cpp. You can embed the same logic in a composition node. Just make sure you create the controller manager object and the control loop thread.

[mhubii]

Thank you for coming back. You are 100% correct @mateusmenezes95.

The question is more whether this should be provided, and why it is not.

[christophfroehlich]

I think this would be a minimal change and could be useful. E.g., just used the robot_state_publisher in a manual composition.
Would you like to create a PR?

[mhubii]

thank you for coming back @christophfroehlich . Yes, I will have a look at that tomorrow/ early next week, unless someone jumps ahead

[mhubii]

Duplicate of #330 ?