Use new spawner support for allow_substs

Author: saikishor

example_1/bringup/config/controller_manager.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 10  # Hz

example_1/bringup/config/rrbot_controllers.yaml

@@ -1,15 +1,13 @@
-controller_manager:
+joint_state_broadcaster:
   ros__parameters:
-    update_rate: 10  # Hz
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
+    type: joint_state_broadcaster/JointStateBroadcaster
+    update_rate: 50  # Hz
 
 
 forward_position_controller:
   ros__parameters:
     type: forward_command_controller/ForwardCommandController
     joints:
-      - joint1
-      - joint2
+      - $(var joint_prefix)1
+      - $(var joint_prefix)2
     interface_name: position

example_1/bringup/launch/rrbot.launch.py

@@ -20,6 +20,7 @@
 
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterFile
 
 
 def generate_launch_description():
@@ -30,14 +31,19 @@ def generate_launch_description():
                 default_value="true",
                 description="Start RViz2 automatically with this launch file.",
             ),
+            DeclareLaunchArgument(
+                "joint_prefix",
+                default_value="joint",
+                description="Prefix for joint names (used with allow_substs in spawner).",
+            ),
             # Control node
             Node(
                 package="controller_manager",
                 executable="ros2_control_node",
                 parameters=[
                     PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
                     / "config"
-                    / "rrbot_controllers.yaml"
+                    / "controller_manager.yaml"
                 ],
                 output="both",
             ),
@@ -75,17 +81,28 @@ def generate_launch_description():
             Node(
                 package="controller_manager",
                 executable="spawner",
-                arguments=["joint_state_broadcaster"],
+                arguments=[
+                    "joint_state_broadcaster",
+                    "--param-file",
+                    PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
+                    / "config"
+                    / "rrbot_controllers.yaml",
+                ],
             ),
             Node(
                 package="controller_manager",
                 executable="spawner",
+                parameters=[
+                    {"joint_prefix": LaunchConfiguration("joint_prefix")},
+                    ParameterFile(
+                        PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
+                        / "config"
+                        / "rrbot_controllers.yaml",
+                        allow_substs=True,
+                    ),
+                ],
                 arguments=[
                     "forward_position_controller",
-                    "--param-file",
-                    PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
-                    / "config"
-                    / "rrbot_controllers.yaml",
                 ],
             ),
         ]