From 62315deaa8828fb30df1f56628939e5ce6a7cf85 Mon Sep 17 00:00:00 2001
From: TheNoobInventor <noobinventor@tutamail.com>
Date: Sun, 25 Aug 2024 23:13:32 +0100
Subject: [PATCH] Update real and Gazebo Fortress lidarbot bringup launch files

---
 .../launch/lidarbot_bringup_launch.py         | 63 +++++++------------
 lidarbot_gz/launch/gz_launch.py               | 36 ++++-------
 2 files changed, 34 insertions(+), 65 deletions(-)

diff --git a/lidarbot_bringup/launch/lidarbot_bringup_launch.py b/lidarbot_bringup/launch/lidarbot_bringup_launch.py
index 2e16c71..936090e 100644
--- a/lidarbot_bringup/launch/lidarbot_bringup_launch.py
+++ b/lidarbot_bringup/launch/lidarbot_bringup_launch.py
@@ -9,7 +9,6 @@
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
-    ExecuteProcess,
     IncludeLaunchDescription,
     TimerAction,
     RegisterEventHandler,
@@ -85,43 +84,25 @@ def generate_launch_description():
         parameters=[{"robot_description": robot_description}, controller_params_file],
     )
 
-    # Start joint_state_broadcaster
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "joint_broadcaster",
-        ],
-        output="screen",
-    )
-
-    # Start diff_drive_controller
-    load_diff_drive_controller = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "diff_controller",
-        ],
-        output="screen",
-    )
-
-    # Start imu_sensor_broadcaster
-    load_imu_sensor_broadcaster = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "imu_broadcaster",
-        ],
-        output="screen",
+    # Spawn diff_controller
+    start_diff_controller_cmd = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diff_controller", "--controller-manager", "/controller_manager"],
+    )
+
+    # Spawn joint_state_broadcaser
+    start_joint_broadcaster_cmd = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    # Spawn imu_sensor_broadcaster
+    start_imu_broadcaster_cmd = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["imu_broadcaster", "--controller-manager", "/controller_manager"],
     )
 
     # Delayed controller manager action
@@ -133,7 +114,7 @@ def generate_launch_description():
     start_delayed_diff_drive_spawner = RegisterEventHandler(
         event_handler=OnProcessStart(
             target_action=start_controller_manager_cmd,
-            on_start=[load_diff_drive_controller],
+            on_start=[start_diff_controller_cmd],
         )
     )
 
@@ -141,7 +122,7 @@ def generate_launch_description():
     start_delayed_joint_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessStart(
             target_action=start_controller_manager_cmd,
-            on_start=[load_joint_state_broadcaster],
+            on_start=[start_joint_broadcaster_cmd],
         )
     )
 
@@ -149,7 +130,7 @@ def generate_launch_description():
     start_delayed_imu_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessStart(
             target_action=start_controller_manager_cmd,
-            on_start=[load_imu_sensor_broadcaster],
+            on_start=[start_imu_broadcaster_cmd],
         )
     )
 
diff --git a/lidarbot_gz/launch/gz_launch.py b/lidarbot_gz/launch/gz_launch.py
index 141a53e..d808f4a 100644
--- a/lidarbot_gz/launch/gz_launch.py
+++ b/lidarbot_gz/launch/gz_launch.py
@@ -133,30 +133,18 @@ def generate_launch_description():
         output="screen",
     )
 
-    # Start joint_state_broadcaster
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "joint_broadcaster",
-        ],
-        output="screen",
+    # Spawn diff_controller
+    start_diff_controller_cmd = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diff_controller", "--controller-manager", "/controller_manager"],
     )
 
-    # Start diff_drive_controller
-    load_diff_drive_controller = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "diff_controller",
-        ],
-        output="screen",
+    # Spawn joint_state_broadcaser
+    start_joint_broadcaster_cmd = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_broadcaster", "--controller-manager", "/controller_manager"],
     )
 
     # Start robot localization using an Extended Kalman Filter
@@ -200,8 +188,8 @@ def generate_launch_description():
     ld.add_action(start_gazebo_ros_bridge_cmd)
     ld.add_action(start_gazebo_ros_image_bridge_cmd)
     ld.add_action(start_robot_localization_cmd)
-    ld.add_action(load_diff_drive_controller)
-    ld.add_action(load_joint_state_broadcaster)
+    ld.add_action(start_diff_controller_cmd)
+    ld.add_action(start_joint_broadcaster_cmd)
     ld.add_action(start_joystick_cmd)
     ld.add_action(start_twist_mux_cmd)