Update ros2_control_node initialization (#846)

doc/examples/jupyter_notebook_prototyping/jupyter_notebook_prototyping_tutorial.rst

@@ -140,7 +140,10 @@ Once our MoveIt configuration is defined we start the following set of nodes:
         ros2_control_node = Node(
                 package="controller_manager",
                 executable="ros2_control_node",
-                parameters=[moveit_config.robot_description, ros2_controllers_path],
+                parameters=[ros2_controllers_path],
+                remappings=[
+                        ("/controller_manager/robot_description", "/robot_description"),
+                ],
                 output="both",
         )
 

doc/examples/jupyter_notebook_prototyping/launch/jupyter_notebook_prototyping.launch.py

@@ -88,7 +88,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/examples/motion_planning_python_api/launch/motion_planning_python_api_tutorial.launch.py

@@ -80,7 +80,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="log",
     )
 

doc/examples/move_group_interface/launch/move_group.launch.py

@@ -67,7 +67,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py

@@ -71,7 +71,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/examples/realtime_servo/launch/pose_tracking_tutorial.launch.py

@@ -56,7 +56,10 @@ def generate_launch_description():
     ros2_control_node = launch_ros.actions.Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="screen",
     )
 

doc/how_to_guides/chomp_planner/launch/chomp_demo.launch.py

@@ -100,7 +100,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="screen",
     )
 

doc/how_to_guides/isaac_panda/launch/isaac_demo.launch.py

@@ -108,7 +108,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="screen",
     )
 

doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.rst

@@ -158,7 +158,10 @@ In our example, we have:
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/how_to_guides/parallel_planning/launch/parallel_planning_example.launch.py

@@ -157,7 +157,10 @@ def launch_setup(context, *args, **kwargs):
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py

@@ -101,7 +101,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/how_to_guides/pick_ik/launch/demo_pick_ik.launch.py

@@ -104,7 +104,10 @@ def launch_setup(context, *args, **kwargs):
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/how_to_guides/using_ompl_constrained_planning/launch/ompl_constrained_planning.launch.py

@@ -93,7 +93,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/tutorials/pick_and_place_with_moveit_task_constructor/launch/mtc_demo.launch.py

@@ -80,7 +80,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.to_dict(), ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )
 

doc/tutorials/quickstart_in_rviz/launch/demo.launch.py

@@ -97,7 +97,10 @@ def generate_launch_description():
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
         output="both",
     )