Parameterized Launch Configurations
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jcarpinelli-bdai commented
Right now, the franka_bringup
package has launch files which load a static controllers.yaml
file, which has all of the *_example_controller
controllers. I think it would be helpful to have a parameter that defaults to the controllers.yaml
file in the franka_bringup
package. This way, users could benefit from using franka_bringup
, while still loading their own controllers.
If this capability isn't added, I think users have to execute ros2 param set
commands as shell processes, either in launch files or manually in a terminal.
@BarisYazici do you agree that a controller_manager_parameters
parameter, which defaults to controllers.yaml
, is acceptable? If so, I can submit a PR with this change.