Add controller name parameter (backport #212) (#216)

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Jakub Delicat <[email protected]> Co-authored-by: Alejandro Hernandez Cordero <[email protected]>
ros-controls · Jan 3, 2024 · 790d105 · 790d105
1 parent 7e388fa
commit 790d105
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -297,6 +297,11 @@ void GazeboSimROS2ControlPlugin::Configure(
 
   // Get controller manager node name
   std::string controllerManagerNodeName{"controller_manager"};
+
+  if (sdfPtr->HasElement("controller_manager_name")) {
+    controllerManagerNodeName = sdfPtr->GetElement("controller_manager_name")->Get<std::string>();
+  }
+
   std::string ns = "/";
 
   // Hold joints if no control mode is active?