Improve launch utils to support the multiple controller names (#1782)

(cherry picked from commit 88441b0)

# Conflicts:
#	controller_manager/controller_manager/launch_utils.py

controller_manager/controller_manager/launch_utils.py

@@ -19,8 +19,13 @@
 from launch_ros.actions import Node
 
 
+<<<<<<< HEAD
 def generate_load_controller_launch_description(
     controller_name, controller_type=None, controller_params_file=None
+=======
+def generate_controllers_spawner_launch_description(
+    controller_names: list, controller_params_file=None, extra_spawner_args=[]
+>>>>>>> 88441b0 (Improve launch utils to support the multiple controller names (#1782))
 ):
     """
     Generate launch description for loading a controller using spawner.
@@ -31,13 +36,22 @@ def generate_load_controller_launch_description(
 
     Examples
     --------
+<<<<<<< HEAD
       # Assuming the controller type and controller parameters are known to the controller_manager
       generate_load_controller_launch_description('joint_state_broadcaster')
 
       # Passing controller type and controller parameter file to load
       generate_load_controller_launch_description(
         'joint_state_broadcaster',
         controller_type='joint_state_broadcaster/JointStateBroadcaster',
+=======
+      # 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'],
+>>>>>>> 88441b0 (Improve launch utils to support the multiple controller names (#1782))
         controller_params_file=os.path.join(get_package_share_directory('my_pkg'),
                                             'config', 'controller_params.yaml')
         )
@@ -54,11 +68,13 @@ def generate_load_controller_launch_description(
         description="Wait until the node is interrupted and then unload controller",
     )
 
-    spawner_arguments = [
-        controller_name,
-        "--controller-manager",
-        LaunchConfiguration("controller_manager_name"),
-    ]
+    spawner_arguments = controller_names
+    spawner_arguments.extend(
+        [
+            "--controller-manager",
+            LaunchConfiguration("controller_manager_name"),
+        ]
+    )
 
     if controller_type:
         spawner_arguments += ["--controller-type", controller_type]
@@ -94,3 +110,13 @@ def generate_load_controller_launch_description(
             spawner,
         ]
     )
+
+
+def generate_load_controller_launch_description(
+    controller_name: str, controller_params_file=None, extra_spawner_args=[]
+):
+    return generate_controllers_spawner_launch_description(
+        controller_names=[controller_name],
+        controller_params_file=controller_params_file,
+        extra_spawner_args=extra_spawner_args,
+    )