Improve launch utils to support the multiple controller names (#1782)

controller_manager/controller_manager/launch_utils.py

@@ -19,8 +19,11 @@
 from launch_ros.actions import Node
 
 
-def generate_load_controller_launch_description(
- controller_name, controller_type=None, controller_params_file=None, extra_spawner_args=[]
+def generate_controllers_spawner_launch_description(
+ controller_names: list,
+ controller_type=None,
+ controller_params_file=None,
+ extra_spawner_args=[],
 ):
  """
  Generate launch description for loading a controller using spawner.
@@ -32,11 +35,11 @@ def generate_load_controller_launch_description(
  Examples
  --------
  # Assuming the controller type and controller parameters are known to the controller_manager
- generate_load_controller_launch_description('joint_state_broadcaster')
+ generate_controllers_spawner_launch_description(['joint_state_broadcaster'])
 
- # Passing controller type and controller parameter file to load
- generate_load_controller_launch_description(
- 'joint_state_broadcaster',
+ # Passing controller type and parameter file to load the controller
+ generate_controllers_spawner_launch_description(
+ ['joint_state_broadcaster'],
  controller_type='joint_state_broadcaster/JointStateBroadcaster',
  controller_params_file=os.path.join(get_package_share_directory('my_pkg'),
  'config', 'controller_params.yaml'),
@@ -55,11 +58,13 @@ def generate_load_controller_launch_description(
  description="Wait until the node is interrupted and then unload controller",
  )
 
- spawner_arguments = [
- controller_name,
- "--controller-manager",
- LaunchConfiguration("controller_manager_name"),
- ]
+ spawner_arguments = controller_names
+ spawner_arguments.extend(
+ [
+ "--controller-manager",
+ LaunchConfiguration("controller_manager_name"),
+ ]
+ )
 
  if controller_type:
  spawner_arguments += ["--controller-type", controller_type]
@@ -98,3 +103,14 @@ def generate_load_controller_launch_description(
  spawner,
  ]
  )
+
+
+def generate_load_controller_launch_description(
+ controller_name: str, controller_type=None, controller_params_file=None, extra_spawner_args=[]
+):
+ return generate_controllers_spawner_launch_description(
+ controller_names=[controller_name],
+ controller_type=controller_type,
+ controller_params_file=controller_params_file,
+ extra_spawner_args=extra_spawner_args,
+ )