From 7e3116fb3cb19898edfa7b042d4cc6802cb5b987 Mon Sep 17 00:00:00 2001
From: Miguel Prada <miguel.prada.sarasola@gmail.com>
Date: Thu, 29 Nov 2018 19:50:33 +0100
Subject: [PATCH] Add arguments to ros_control launchfiles to select loaded
 controllers. (#236)

---
 launch/ur10_ros_control.launch | 10 ++++++----
 launch/ur3_ros_control.launch  |  6 ++++--
 launch/ur5_ros_control.launch  | 10 ++++++----
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index dfb9be4..e547355 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -10,11 +10,13 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
-  <arg name="prefix" default="" />  
+  <arg name="prefix" default="" />
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
+  <arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
+  <arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -40,11 +42,11 @@
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />
+    output="screen" args="$(arg controllers)" />
 
-  <!-- load other controller --> 
+  <!-- load other controller -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
+    output="screen" args="load $(arg stopped_controllers)" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch
index b8681e4..c728d34 100644
--- a/launch/ur3_ros_control.launch
+++ b/launch/ur3_ros_control.launch
@@ -15,6 +15,8 @@
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
+  <arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
+  <arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -40,11 +42,11 @@
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />
+    output="screen" args="$(arg controllers)" />
 
   <!-- load other controller -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
+    output="screen" args="load $(arg stopped_controllers)" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index d443c0e..964c06d 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -10,11 +10,13 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
-  <arg name="prefix" default="" />  
+  <arg name="prefix" default="" />
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
+  <arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
+  <arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -40,11 +42,11 @@
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />
+    output="screen" args="$(arg controllers)" />
 
-  <!-- load other controller --> 
+  <!-- load other controller -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
+    output="screen" args="load $(arg stopped_controllers)" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>