Corrected launch of position_only example

README.md

@@ -19,12 +19,11 @@ The repository has three goals:
 
 The repository is inspired by the [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman.
 The simulation has three parts/packages:
-1. The first package, `ros2_control_demo_hardware`, implements the hardware interfaces described in the roadmap.
+1. The first package, `ros2_control_demo_bringup`, holds launch files and runtime configurations for demo robots.
+2. The second package, `ros2_control_demo_description`, stored URDF-description files, rviz configurations and meshes for the demo robots.
+3. The third package, `ros2_control_demo_hardware`, implements the hardware interfaces described in the roadmap.
 The examples simulate a simple *RRbot* internally to provide sufficient test and demonstration data and reduce external dependencies.
 This package does not have any dependencies except `ros2` core packages and can, therefore, be used on SoC-hardware of headless systems.
-2. The second package, `ros2_control_demo_hardware_gazebo`, uses a Gazebo simulator to simulate the *RRBot* and its physics.
-This package is useful to test the connection of `ros2_control` to the Gazebo simulator and to detect any missing plugins.
-3. The third package `ros2_control_demo_robot` holds examples for *RRbot* URDF-description, launch files and controllers.
 
 This repository demonstrates the following `ros2_control` concepts:
 
@@ -80,19 +79,19 @@ Each example is started with a single launch file which starts up the robot hard
 The `rviz2` setup can be recreated following these steps:
 
 - The robot models can be visualized using `RobotModel` display using `/robot_description` topic.
-- Or you can simply open the configuration from `rviz` folder in `ros2_control_demo_robot` package manually or directly by executing:
+- Or you can simply open the configuration from `rviz` folder in `ros2_control_demo_description` package manually or directly by executing:
   ```
-  rviz2 --display-config `ros2 pkg prefix ros2_control_demo_robot`/share/ros2_control_demo_robot/rviz/rrbot.rviz
+  rviz2 --display-config `ros2 pkg prefix ros2_control_demo_description`/share/ros2_control_demo_description/rviz/rrbot.rviz
   ```
 
 *RRBot*, or ''Revolute-Revolute Manipulator Robot'', is a simple 3-linkage, 2-joint arm that we will use to demonstrate various features. It essentially a double inverted pendulum and demonstrates some fun control concepts within a simulator and was originally introduced for Gazebo tutorials.
-The *RRbot* URDF files can be found in the `description` folder of `ros2_control_demo_robot` package.
+The *RRbot* URDF files can be found in the `urdf` folder of `ros2_control_demo_description` package.
 
 ### Example 1: "Industrial Robots with only one interface"
 
 1. Open another terminal and start the roslaunch file:
    ```
-   ros2 launch ros2_control_demo_robot rrbot_system_position_only.launch.py
+   ros2 launch ros2_control_demo_bringup rrbot_system_position_only.launch.py
    ```
 
 2. Open another terminal and check that `RRBotSystemPositionOnlyHardware` loaded properly:

doc/index.rst

@@ -22,7 +22,7 @@ Start up the multi interface rrbot system:
 
 .. code-block:: bash
 
-    ros2 launch ros2_control_demo_robot rrbot_system_multi_interface.launch.py
+    ros2 launch ros2_control_demo_bringup rrbot_system_multi_interface.launch.py
 
 List the available interfaces
 

ros2_control_demo_bringup/launch/diffbot_system.launch.py

@@ -26,15 +26,15 @@ def generate_launch_description():
 
     # Get URDF via xacro
     robot_description_path = os.path.join(
-        get_package_share_directory("ros2_control_demo_robot"),
-        "description",
+        get_package_share_directory("ros2_control_demo_description"),
+        "urdf",
         "diffbot_system.urdf.xacro",
     )
     robot_description_config = xacro.process_file(robot_description_path)
     robot_description = {"robot_description": robot_description_config.toxml()}
 
     diffbot_diff_drive_controller = os.path.join(
-        get_package_share_directory("ros2_control_demo_robot"),
+        get_package_share_directory("ros2_control_demo_bringup"),
         "config",
         "diffbot_diff_drive_controller.yaml",
     )

ros2_control_demo_bringup/launch/rrbot.launch.py

@@ -49,7 +49,6 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_file",
-            default_value="",
             description="URDF/XACRO description file with the robot.",
         )
     )
@@ -182,14 +181,12 @@ def generate_launch_description():
         arguments=[robot_controller, "-c", "/controller_manager"],
     )
 
-    return LaunchDescription(
-        declared_arguments.append(
-            [
-                control_node,
-                robot_state_pub_node,
-                rviz_node,
-                joint_state_broadcaster_spawner,
-                robot_controller_spawner,
-            ]
-        )
-    )
+    nodes = [
+        control_node,
+        robot_state_pub_node,
+        rviz_node,
+        joint_state_broadcaster_spawner,
+        robot_controller_spawner,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes)

ros2_control_demo_description/CMakeLists.txt

@@ -10,7 +10,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY launch rviz urdf
+  DIRECTORY launch meshes rviz urdf
   DESTINATION share/${PROJECT_NAME}
 )
 

ros2_control_demo_description/urdf/diffbot_system.urdf.xacro

@@ -6,16 +6,16 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/diffbot_de
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
 
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/diffbot/diffbot.urdf.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/urdf/diffbot/diffbot.urdf.xacro" />
 
   <!-- Import all Gazebo-customization elements, including Gazebo colors -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/diffbot/diffbot.gazebo.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/urdf/diffbot/diffbot.gazebo.xacro" />
 
   <!-- Import Rviz colors -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/diffbot/diffbot.materials.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/urdf/diffbot/diffbot.materials.xacro" />
 
   <!-- Import diffbot ros2_control description -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/diffbot/diffbot_system.ros2_control.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/urdf/diffbot/diffbot_system.ros2_control.xacro" />
 
   <xacro:diffbot prefix="" />
 

ros2_control_demo_description/urdf/rrbot/gazebo/rrbot.gazebo.xacro

@@ -10,7 +10,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-        <parameters>$(find ros2_control_demo_robot)/config/rrbot_gazebo_forward_controller_position.yaml</parameters>
+        <parameters>$(find ros2_control_demo_bringup)/config/rrbot_gazebo_forward_controller_position.yaml</parameters>
       </plugin>
     </gazebo>
 

ros2_control_demo_hardware/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>ros2_control_demo_hardware</name>
   <version>0.0.0</version>
-  <description>Demo package of `ros2_control` Hardware. This package provides example on how to define hardware of your own robot for ROS2 control. The package is used with `demo_robot` from package `ros2_control_demo_robot`.</description>
+  <description>Demo package of `ros2_control` Hardware. This package provides example on how to define hardware of your own robot for ROS2 control. The package is used with `demo_robot` from package `ros2_control_demo_description`.</description>
 
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>