Working Chaining Controller #1

ChiratheRobotics · Jun 8, 2023 · 7e6b567 · 7e6b567
1 parent 4a70aa0
commit 7e6b567
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Showing 3 changed files with 6 additions and 2 deletions.
diff --git a/chaining_controller/launch/cart_example_effort.launch.py b/chaining_controller/launch/cart_example_effort.launch.py
@@ -88,7 +88,7 @@ def generate_launch_description():
             "control",
             "load_controller",
             "--set-state",
-            "active",
+            "inactive",
             "chained_controller",
         ],
         output="screen",

diff --git a/chaining_controller/src/chained_controller.cpp b/chaining_controller/src/chained_controller.cpp
@@ -76,6 +76,8 @@ chaining_controller::ChainedController::on_export_reference_interfaces()
 
 bool chaining_controller::ChainedController::on_set_chained_mode(bool chained_mode)
 {
+  RCLCPP_INFO(get_node()->get_logger(), "CHAINED MODE ACTIVE");
+
   chained_mode = true;
   return chained_mode;
 }

diff --git a/chaining_controller/src/effort_controller.cpp b/chaining_controller/src/effort_controller.cpp
@@ -32,8 +32,10 @@ chaining_controller::EffortController::command_interface_configuration() const
     get_node()->get_logger(), "Command Interface EffortController. No Command Interface Required");
 
   controller_interface::InterfaceConfiguration command_interfaces_config;
-  command_interfaces_config.type = controller_interface::interface_configuration_type::NONE;
+  command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
 
+  command_interfaces_config.names.push_back(
+    std::string("chained_controller/") + hardware_interface::HW_IF_EFFORT);
   return command_interfaces_config;
 }