Fix bringup template (#195)

* adjust JTC default configuration

* set JTC as default active controller for bringup template

* so that setup-moveit-package planning and execution works out of the box

templates/ros2_control/robot_controllers.yaml

@@ -67,6 +67,11 @@ joint_trajectory_controller:                  # delete entry if controller is no
       - joint5
       - joint6
 
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
     state_publish_rate: 50.0 # Defaults to 50
     action_monitor_rate: 20.0 # Defaults to 20
 

templates/ros2_control/robot_ros2_control.launch.py

@@ -87,7 +87,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_controller",
-            default_value="forward_position_controller",
+            default_value="joint_trajectory_controller",
             choices=["forward_position_controller", "joint_trajectory_controller"],
             description="Robot controller to start.",
         )

templates/ros2_control/robot_ros2_control.launch.xml

@@ -43,7 +43,7 @@ Authors: Riyan Jose, Manuel Muth, Dr. Denis
        default="false"
        description="Enable mock command interfaces for sensors used for simple simulations. Used only if 'use_mock_hardware' parameter is true."/>
   <arg name="robot_controller"
-       default="forward_position_controller"
+       default="joint_trajectory_controller"
        description="Robot controller to start. Choices are: [forward_position_controller, joint_trajectory_controller]."/>
   <arg name="inactive_robot_controller"
        default="forward_position_controller"