From bfba5ab8aa46fe97ab5e345b708e933ccdd14322 Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Mon, 16 Dec 2024 19:09:51 +0900
Subject: [PATCH] [dynamixel_general_hw] Enable to use substitution args in
 config files

---
 .../config/sample1_2/default_controllers.yaml                 | 2 +-
 dynamixel_general_hw/config/sample3/default_controllers.yaml  | 2 +-
 dynamixel_general_hw/config/sample4/default_controllers.yaml  | 2 +-
 dynamixel_general_hw/config/sample5/default_controllers.yaml  | 2 +-
 dynamixel_general_hw/config/sample6/default_controllers.yaml  | 2 +-
 dynamixel_general_hw/launch/dynamixel_general_control.launch  | 4 ++--
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/dynamixel_general_hw/config/sample1_2/default_controllers.yaml b/dynamixel_general_hw/config/sample1_2/default_controllers.yaml
index e24b416..9459036 100644
--- a/dynamixel_general_hw/config/sample1_2/default_controllers.yaml
+++ b/dynamixel_general_hw/config/sample1_2/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController
diff --git a/dynamixel_general_hw/config/sample3/default_controllers.yaml b/dynamixel_general_hw/config/sample3/default_controllers.yaml
index 4c0167e..0b4f375 100644
--- a/dynamixel_general_hw/config/sample3/default_controllers.yaml
+++ b/dynamixel_general_hw/config/sample3/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController
diff --git a/dynamixel_general_hw/config/sample4/default_controllers.yaml b/dynamixel_general_hw/config/sample4/default_controllers.yaml
index 92f37a8..c4d585a 100644
--- a/dynamixel_general_hw/config/sample4/default_controllers.yaml
+++ b/dynamixel_general_hw/config/sample4/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 joint_group_velocity_controller:
   type: velocity_controllers/JointGroupVelocityController
diff --git a/dynamixel_general_hw/config/sample5/default_controllers.yaml b/dynamixel_general_hw/config/sample5/default_controllers.yaml
index 4cbd474..79c5b46 100644
--- a/dynamixel_general_hw/config/sample5/default_controllers.yaml
+++ b/dynamixel_general_hw/config/sample5/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 joint_group_effort_controller:
   type: effort_controllers/JointGroupEffortController
diff --git a/dynamixel_general_hw/config/sample6/default_controllers.yaml b/dynamixel_general_hw/config/sample6/default_controllers.yaml
index f9961f1..57e3196 100644
--- a/dynamixel_general_hw/config/sample6/default_controllers.yaml
+++ b/dynamixel_general_hw/config/sample6/default_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 20
+  publish_rate: $(arg control_rate)
 
 position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController
diff --git a/dynamixel_general_hw/launch/dynamixel_general_control.launch b/dynamixel_general_hw/launch/dynamixel_general_control.launch
index 63912df..377db68 100644
--- a/dynamixel_general_hw/launch/dynamixel_general_control.launch
+++ b/dynamixel_general_hw/launch/dynamixel_general_control.launch
@@ -67,10 +67,10 @@
         publish_input_voltage: $(arg publish_input_voltage)
         write_read_interval: $(arg write_read_interval)
       </rosparam>
-      <rosparam param="dynamixel_info" file="$(arg dynamixel_info_file)" command="load" />
+      <rosparam param="dynamixel_info" file="$(arg dynamixel_info_file)" command="load" subst_value="true" />
     </node>
 
-    <rosparam file="$(arg controllers_file)" command="load" />
+    <rosparam file="$(arg controllers_file)" command="load" subst_value="true" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
           args="$(arg controllers_to_start)" />