From 8a61ccdb506c6320fcff8627fcdbd5e2bf0cdac8 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 23 Aug 2024 19:02:35 +0000
Subject: [PATCH 1/2] Use new spawner option for ros args

---
 example_11/bringup/launch/carlikebot.launch.py   | 11 +++++++----
 .../bringup/launch/rrbot_namespace.launch.py     | 16 ++++++++--------
 example_2/bringup/launch/diffbot.launch.py       | 10 ++++++++--
 3 files changed, 23 insertions(+), 14 deletions(-)

diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
index 47c3c3327..13054a298 100644
--- a/example_11/bringup/launch/carlikebot.launch.py
+++ b/example_11/bringup/launch/carlikebot.launch.py
@@ -77,9 +77,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("/bicycle_steering_controller/tf_odometry", "/tf"),
-        ],
         condition=IfCondition(remap_odometry_tf),
     )
     control_node = Node(
@@ -114,7 +111,13 @@ def generate_launch_description():
     robot_bicycle_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["bicycle_steering_controller", "--param-file", robot_controllers],
+        arguments=[
+            "bicycle_steering_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "-r /bicycle_steering_controller/tf_odometry:=/tf",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
index d63a0b040..6d9e51d7b 100644
--- a/example_15/bringup/launch/rrbot_namespace.launch.py
+++ b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -69,13 +69,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         namespace="/rrbot",
         parameters=[robot_description, robot_controllers],
-        remappings=[
-            (
-                # we use the remapping from a relative name to FQN /position_commands
-                "forward_position_controller/commands",
-                "/position_commands",
-            ),
-        ],
         output={
             "stdout": "screen",
             "stderr": "screen",
@@ -108,7 +101,14 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         namespace="rrbot",
-        arguments=["forward_position_controller", "--param-file", robot_controllers],
+        arguments=[
+            "forward_position_controller",
+            "--param-file",
+            robot_controllers,
+            # we use the remapping from a relative name to FQN /position_commands
+            "--controller-ros-args",
+            "-r forward_position_controller/commands:=/position_commands",
+        ],
     )
 
     robot_position_trajectory_controller_spawner = Node(
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 1c345464f..7573d2860 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -76,7 +76,7 @@ def generate_launch_description():
         parameters=[robot_controllers],
         output="both",
         remappings=[
-            ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
+            # ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
         ],
     )
     robot_state_pub_node = Node(
@@ -103,7 +103,13 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["diffbot_base_controller", "--param-file", robot_controllers],
+        arguments=[
+            "diffbot_base_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "-r /diffbot_base_controller/cmd_vel:=/cmd_vel",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

From 130539e1b934b915abdb48661d5633dcd2410591 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 23 Aug 2024 19:04:06 +0000
Subject: [PATCH 2/2] Remove old code

---
 example_2/bringup/launch/diffbot.launch.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 7573d2860..797ea5fd8 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -75,9 +75,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            # ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
-        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",