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Controller Manager
Controller Manager is the main component in the ros2_control framework. It manages lifecycle of controllers, access to the hardware interfaces and offers services to the ROS-world.
Helper scripts
There are two scripts to interact with controller manager from launch files:
spawner.py- loads, configures and start a controller on startup.
unspawner.py- stops and unloads a controller.
spawner.py
$ ros2 run controller_manager spawner.py -h
usage: spawner.py [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [--load-only] [--stopped] [-t CONTROLLER_TYPE] [-u]
[--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT]
controller_name
positional arguments:
controller_name Name of the controller
optional arguments:
-h, --help show this help message and exit
-c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
Name of the controller manager ROS node
-p PARAM_FILE, --param-file PARAM_FILE
Controller param file to be loaded into controller node before configure
--load-only Only load the controller and leave unconfigured.
--stopped Load and configure the controller, however do not start them
-t CONTROLLER_TYPE, --controller-type CONTROLLER_TYPE
If not provided it should exist in the controller manager namespace
-u, --unload-on-kill Wait until this application is interrupted and unload controller
--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT
Time to wait for the controller manager
unspawner.py
$ ros2 run controller_manager unspawner.py -h
usage: unspawner.py [-h] [-c CONTROLLER_MANAGER] controller_name
positional arguments:
controller_name Name of the controller
optional arguments:
-h, --help show this help message and exit
-c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
Name of the controller manager ROS node