controller_manager.launch_utils module

controller_manager.launch_utils.generate_controllers_spawner_launch_description(controller_names: list, controller_params_files=None, extra_spawner_args=[])

Generate launch description for loading a controller using spawner.

Returns a list of LaunchDescription actions adding the ‘controller_manager_name’ and ‘unload_on_kill’ LaunchArguments and a Node action that runs the controller_manager spawner node to load and activate a controller

Examples

# Assuming the controller parameters are known to the controller_manager generate_controllers_spawner_launch_description([‘joint_state_broadcaster’])

# Passing controller parameter file to load the controller (Controller type is retrieved from config file) generate_controllers_spawner_launch_description(

[‘joint_state_broadcaster’], controller_params_files=[os.path.join(get_package_share_directory(‘my_pkg’),

‘config’, ‘controller_params.yaml’)],

extra_spawner_args=[–load-only] )

controller_manager.launch_utils.generate_controllers_spawner_launch_description_from_dict(controller_info_dict: dict, extra_spawner_args=[])

Generate launch description for loading a controller using spawner.

controller_info_dict: dict

A dictionary with the following info: - controller_name: str

The name of the controller to load as the key

• controller_params_file: str or list or None

  The path to the controller parameter file or a list of paths to multiple parameter files or None if no parameter file is needed as the value of the key If a list is passed, the controller parameters will be overloaded in same order

extra_spawner_args: list

A list of extra arguments to pass to the controller spawner

controller_manager.launch_utils.generate_load_controller_launch_description(controller_name: str, controller_params_file=None, extra_spawner_args=[])