Add remap option to controller manager

[Tacha-S]

I made it possible to correctly set the node name of the controller_manager when launching gz_ros2_control as a composable node.

• fix Controller manager name matches container name in composable nodes #441

[Amronos]

Any updates on this PR?

[christophfroehlich]

@Amronos can you please test it and leave a review here? I don't have a working example of setting this up, maybe someone can provide one for gz_ros2_control_demos if this makes sense?

[christophfroehlich]

@Mergifyio backport rolling

[mergify]

backport rolling

✅ Backports have been created

• #482 Add remap option to controller manager (backport #442) has been created for branch rolling

[Amronos]

This PR makes gz_ros2_control work for me when launching Gazebo as a composable node.
Note to anyone else testing: gazebosim/ros_gz#659 is required (I don't think it has been synced to Jazzy or Rolling yet).

@christophfroehlich I will try making a PR in a few days to modify the demos to use composable nodes, till then the below launch file can be used for testing:

from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    ExecuteProcess,
    OpaqueFunction,
    RegisterEventHandler,
)
from launch.event_handlers import OnProcessExit
from launch.substitutions import (
    Command,
    FindExecutable,
    LaunchConfiguration,
    PathJoinSubstitution,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ros_gz_sim.actions import GzServer


def generate_launch_description():
    # Launch Arguments
    use_sim_time = LaunchConfiguration("use_sim_time", default=True)

    def robot_state_publisher(context):
        performed_description_format = LaunchConfiguration(
            "description_format"
        ).perform(context)
        # Get URDF or SDF via xacro
        robot_description_content = Command(
            [
                PathJoinSubstitution([FindExecutable(name="xacro")]),
                " ",
                PathJoinSubstitution(
                    [
                        FindPackageShare("gz_ros2_control_demos"),
                        performed_description_format,
                        f"test_diff_drive.xacro.{performed_description_format}",
                    ]
                ),
            ]
        )
        robot_description = {"robot_description": robot_description_content}
        node_robot_state_publisher = Node(
            package="robot_state_publisher",
            executable="robot_state_publisher",
            output="screen",
            parameters=[robot_description],
        )
        return [node_robot_state_publisher]

    robot_controllers = PathJoinSubstitution(
        [
            FindPackageShare("gz_ros2_control_demos"),
            "config",
            "diff_drive_controller.yaml",
        ]
    )

    gz_spawn_entity = Node(
        package="ros_gz_sim",
        executable="create",
        output="screen",
        arguments=[
            "-topic",
            "robot_description",
            "-name",
            "diff_drive",
            "-allow_renaming",
            "true",
        ],
    )

    joint_state_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["joint_state_broadcaster"],
    )
    diff_drive_base_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[
            "diff_drive_base_controller",
            "--param-file",
            robot_controllers,
        ],
    )

    # Bridge
    bridge = Node(
        package="ros_gz_bridge",
        executable="parameter_bridge",
        arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
        output="screen",
    )

    ld = LaunchDescription(
        [
            # Launch gazebo environment
            GzServer(
                world_sdf_file="empty.sdf",
                use_composition="True",
                create_own_container="True",
                container_name="ros_gz_container",
            ),
            ExecuteProcess(cmd=["gz", "sim", "-g"]),
            RegisterEventHandler(
                event_handler=OnProcessExit(
                    target_action=gz_spawn_entity,
                    on_exit=[joint_state_broadcaster_spawner],
                )
            ),
            RegisterEventHandler(
                event_handler=OnProcessExit(
                    target_action=joint_state_broadcaster_spawner,
                    on_exit=[diff_drive_base_controller_spawner],
                )
            ),
            bridge,
            gz_spawn_entity,
            # Launch Arguments
            DeclareLaunchArgument(
                "use_sim_time",
                default_value=use_sim_time,
                description="If true, use simulated clock",
            ),
            DeclareLaunchArgument(
                "description_format",
                default_value="urdf",
                description="Robot description format to use, urdf or sdf",
            ),
        ]
    )
    ld.add_action(OpaqueFunction(function=robot_state_publisher))
    return ld

[Tacha-S]

Thank you for testing.
I think the testing method is fine as it is.

[ahcorde]

do we need to forward port this to rolling ? or backport to humble?