Updated Execution Order #1

ChiratheRobotics · Jun 8, 2023 · 36073c1 · 36073c1
1 parent 7e6b567
commit 36073c1
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/chaining_controller/launch/cart_example_effort.launch.py b/chaining_controller/launch/cart_example_effort.launch.py
@@ -71,13 +71,13 @@ def generate_launch_description():
         output="screen",
     )
 
-    load_joint_trajectory_controller = ExecuteProcess(
+    load_effort_upper_controller = ExecuteProcess(
         cmd=[
             "ros2",
             "control",
             "load_controller",
             "--set-state",
-            "inactive",
+            "active",
             "effort_controller_upper",
         ],
         output="screen",
@@ -88,7 +88,7 @@ def generate_launch_description():
             "control",
             "load_controller",
             "--set-state",
-            "inactive",
+            "active",
             "chained_controller",
         ],
         output="screen",
@@ -104,13 +104,13 @@ def generate_launch_description():
             RegisterEventHandler(
                 event_handler=OnProcessExit(
                     target_action=load_joint_state_controller,
-                    on_exit=[load_joint_trajectory_controller],
+                    on_exit=[load_chained_controller],
                 )
             ),
             RegisterEventHandler(
                 event_handler=OnProcessExit(
-                    target_action=load_joint_trajectory_controller,
-                    on_exit=[load_chained_controller],
+                    target_action=load_chained_controller,
+                    on_exit=[load_effort_upper_controller],
                 )
             ),
             gazebo,