Using joint_state_broadcaster instead of controller

Author: jordan-palacios

pmb2_controller_configuration/config/joint_state_broadcaster.yaml

@@ -0,0 +1,7 @@
+/joint_state_broadcaster:
+  ros__parameters:
+    type: joint_state_broadcaster/JointStateBroadcaster
+    use_sim_time: True
+    publish_rate: 50.0
+
+

pmb2_controller_configuration/config/joint_state_controller.yaml

@@ -22,7 +22,7 @@ def generate_launch_description():
         include_launch_py_description(
             'pmb2_controller_configuration', ['launch', 'mobile_base_controller.launch.py']),
         include_launch_py_description(
-            'pmb2_controller_configuration', ['launch', 'joint_state_controller.launch.py']),
+            'pmb2_controller_configuration', ['launch', 'joint_state_broadcaster.launch.py']),
         # imu_sensor_controller not migrated to ROS2 yet
         # include_launch_py_description(
         #    'imu_sensor_controller', ['launch', 'imu_sensor_controller.launch.py']),

pmb2_controller_configuration/launch/default_controllers.launch.py

@@ -21,8 +21,8 @@
 
 def generate_launch_description():
     return generate_load_controller_launch_description(
-        controller_name='joint_state_controller',
-        controller_type='joint_state_controller/JointStateController',
+        controller_name='joint_state_broadcaster',
+        controller_type='joint_state_broadcaster/JointStateBroadcaster',
         controller_params_file=os.path.join(
             get_package_share_directory('pmb2_controller_configuration'),
-            'config', 'joint_state_controller.yaml'))
+            'config', 'joint_state_broadcaster.yaml'))