[dynamixel_general_hw] Enable to use substitution args in config files

ROBOTIS-GIT · Dec 16, 2024 · bfba5ab · bfba5ab
1 parent a756e68
commit bfba5ab
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Showing 6 changed files with 7 additions and 7 deletions.
diff --git a/dynamixel_general_hw/config/sample1_2/default_controllers.yaml b/dynamixel_general_hw/config/sample1_2/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController

diff --git a/dynamixel_general_hw/config/sample3/default_controllers.yaml b/dynamixel_general_hw/config/sample3/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController

diff --git a/dynamixel_general_hw/config/sample4/default_controllers.yaml b/dynamixel_general_hw/config/sample4/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 joint_group_velocity_controller:
   type: velocity_controllers/JointGroupVelocityController

diff --git a/dynamixel_general_hw/config/sample5/default_controllers.yaml b/dynamixel_general_hw/config/sample5/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 joint_group_effort_controller:
   type: effort_controllers/JointGroupEffortController

diff --git a/dynamixel_general_hw/config/sample6/default_controllers.yaml b/dynamixel_general_hw/config/sample6/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController

diff --git a/dynamixel_general_hw/launch/dynamixel_general_control.launch b/dynamixel_general_hw/launch/dynamixel_general_control.launch
@@ -67,10 +67,10 @@
         publish_input_voltage: $(arg publish_input_voltage)
         write_read_interval: $(arg write_read_interval)
       </rosparam>
-      <rosparam param="dynamixel_info" file="$(arg dynamixel_info_file)" command="load" />
+      <rosparam param="dynamixel_info" file="$(arg dynamixel_info_file)" command="load" subst_value="true" />
     </node>
 
-    <rosparam file="$(arg controllers_file)" command="load" />
+    <rosparam file="$(arg controllers_file)" command="load" subst_value="true" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
           args="$(arg controllers_to_start)" />