Simplify access for robot description from CM by overriding RM (ros-c…

…ontrols#349)
saikishor · Jul 8, 2024 · 6ebb2e7 · 6ebb2e7
1 parent 06da0b0
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diff --git a/doc/index.rst b/doc/index.rst
@@ -197,22 +197,31 @@ robot hardware interfaces between *ros2_control* and Gazebo Classic.
 .. code-block:: xml
 
   <gazebo>
-      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-        <robot_param>robot_description</robot_param>
-        <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
-        <controller_manager_name>simulation_controller_manager</controller_manager_name>
-      </plugin>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
+    </plugin>
   </gazebo>
 
 The *gazebo_ros2_control* ``<plugin>`` tag also has the following optional child elements:
 
-* ``<robot_param>``: The location of the ``robot_description`` (URDF) on the parameter server, defaults to ``robot_description``
-* ``<robot_param_node>``: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher``
-* ``<parameters>``: YAML file with the configuration of the controllers
+* ``<parameters>``: A YAML file with the configuration of the controllers. This element can be given multiple times to load multiple files.
 * ``<hold_joints>``: if set to true (default), it will hold the joints' position if their interface was not claimed, e.g., the controller hasn't been activated yet.
 * ``<controller_manager_name>``: Set controller manager name (default: ``controller_manager``)
 
+Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:
+
+.. code-block:: xml
+
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      ...
+      <ros>
+        <namespace>my_namespace</namespace>
+        <remapping>/robot_description:=/robot_description_full</remapping>
+      </ros>
+    </plugin>
+  </gazebo>
+
 Default gazebo_ros2_control Behavior
 -----------------------------------------------------------