Fix controllers parameters of controller manager

[delihus]

The issue is described here #1506.

[christophfroehlich]

Thanks for opening a PR. Do you think you could add a test into test_spawner_unspawner.cpp for your usecase?

[saikishor]

Hello @delihus!

Thanks for the pull request and mainly for reporting the issue. Looking at your reported issue, I personally think that the issue is not in the spawner, but it is inside the controller_manager code. It is not handling the namespaces very nicely. You can fix it over there or I can fix it in the upcoming days.
Let us know.

[saikishor]

@delihus I've reviewed again probably your approach is fine, one more thing why do you have to run your spawner with the same namespace again?

python3 spawner.py  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/jtc.yaml --ros-args -r __ns:=/panther -p use_sim_time:=True

I think in the spawner you would also need to change this part controller_manager_name to also include the namespace, so this way you might avoid parsing the namespace again via __ns right?

ros2_control/controller_manager/controller_manager/spawner.py

Lines 351 to 353 in 9f1007b

	response = call_set_parameters(
	node=node, node_name=controller_manager_name, parameters=[parameter]
	)

ideally, it should look something like this right?

python3 spawner.py  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/jtc.yaml --ros-args -p use_sim_time:=True

[delihus]

@delihus I've reviewed again probably your approach is fine, one more thing why do you have to run your spawner with the same namespace again?

python3 spawner.py  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/jtc.yaml --ros-args -r __ns:=/panther -p use_sim_time:=True

Gives:

[ruby $(which ign) gazebo-1] [ERROR] [1716541010.983187571] [panther.controller_manager]: The 'type' param was not defined for 'joint_trajectory_controller'.

I think in the spawner you would also need to change this part controller_manager_name to also include the namespace, so this way you might avoid parsing the namespace again via __ns right?

ros2_control/controller_manager/controller_manager/spawner.py

Lines 351 to 353 in 9f1007b

	response = call_set_parameters(
	node=node, node_name=controller_manager_name, parameters=[parameter]
	)

ideally, it should look something like this right?

python3 spawner.py  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/jtc.yaml --ros-args -p use_sim_time:=True

This gives:

ros2 run controller_manager  spawner  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/tmpt7hc4zwy --ros-args -p use_sim_time:=True
[INFO] [1716540758.743235940] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist

[anath93]

@christophfroehlich @delihus For spawner to load namespaced controller correctly, try defining in your .yaml file like below to expose this while launching your controller manager

then this,

[saikishor]

This gives:

ros2 run controller_manager  spawner  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/tmpt7hc4zwy --ros-args -p use_sim_time:=True
[INFO] [1716540758.743235940] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist

@delihus Could you let me know if you made the changes to this part of the code to include the namespace?

ros2_control/controller_manager/controller_manager/spawner.py

Lines 351 to 353 in 9f1007b

	response = call_set_parameters(
	node=node, node_name=controller_manager_name, parameters=[parameter]
	)

Because if you do it, then it should wait for the namespace node right?

[anath93]

This gives:

ros2 run controller_manager  spawner  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/tmpt7hc4zwy --ros-args -p use_sim_time:=True
[INFO] [1716540758.743235940] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist

@delihus Could you let me know if you made the changes to this part of the code to include the namespace?

ros2_control/controller_manager/controller_manager/spawner.py

Lines 351 to 353 in 9f1007b

	response = call_set_parameters(
	node=node, node_name=controller_manager_name, parameters=[parameter]
	)

Because if you do it, then it should wait for the namespace node right?

@saikishor Did you namespace the controller manger in node side like this ?

[saikishor]

@saikishor Did you namespace the controller manger in node side like this ?

@delihus I know that you namespace it like that, but what I mean is that the in the below code if you in the node_name, instead of parsing the controller_manager_name pass already the namespaced one like controller_namespace + "/" + controller_manager_name and see if it works instead of having to namespace the spawner again with __ns. What do you say?

ros2_control/controller_manager/controller_manager/spawner.py

Lines 351 to 353 in 9f1007b

	response = call_set_parameters(
	node=node, node_name=controller_manager_name, parameters=[parameter]
	)

[delihus]

@saikishor Did you namespace the controller manger in node side like this ?

@delihus I know that you namespace it like that, but what I mean is that the in the below code if you in the node_name, instead of parsing the controller_manager_name pass already the namespaced one like controller_namespace + "/" + controller_manager_name and see if it works instead of having to namespace the spawner again with __ns. What do you say?

ros2_control/controller_manager/controller_manager/spawner.py

Lines 351 to 353 in 9f1007b

	response = call_set_parameters(
	node=node, node_name=controller_manager_name, parameters=[parameter]
	)

Yeah, you're right. This works.

    initial_joint_controller_spawner_started = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[

            [device_namespace, "_joint_trajectory_controller"],
            "-t",
            "joint_trajectory_controller/JointTrajectoryController",
            "-c",
            [robot_namespace, "/controller_manager"],
            "--controller-manager-timeout",
            "10",
            "--param-file",
            namespaced_initial_joint_controllers_path,
        ],
    )

ros2 topic list:

/panther/ur3e_joint_trajectory_controller/controller_state
/panther/ur3e_joint_trajectory_controller/joint_trajectory
/panther/ur3e_joint_trajectory_controller/state
/panther/ur3e_joint_trajectory_controller/transition_event

What do you think to add the name of the controller_manager in logs?

From:

[spawner-6] [INFO] [1718182938.346910274] [spawner_ur3e_joint_trajectory_controller]: Configured and activated ur3e_joint_trajectory_controller

to:

[spawner-6] [INFO] [1718182938.346910274] [spawner_ur3e_joint_trajectory_controller]: Configured and activated ur3e_joint_trajectory_controller for /panther/controller_manager