Dr. Denis

> > The global name for `/joint_states` is pretty much a standard location. Why do you need to remap it? > > Two manipulator with separate moveit setup in gazebo...

Hi @patrykcieslak, I needed a bit of time to think about your issue. > 2. Use a hardware interface connected with 3 controller managers, each of them with a set...

> There is no problem to instantiate multiple CMs in one hardware interface and nothing stops you from setting the same resources for all of them. This sounds like ros_control....

The point is that we should do this check much earlier and not when we already initialize hardware with the duplicated name. - [ ] Move lines 103 - 108...

> TL;DR: > I propose to enhance the service call for loading a controller with an optional parameters file, similar to what the ros2 composition does: `ros2 composition load -p...

@Karsten1987 ist this resolved by merging spawner/unspawner PR?

> Did you mean to remove both? > > * .allow_undeclared_parameters(true) > > * .automatically_declare_parameters_from_overrides(true) yes.

Thank you all for the lively discussion with exciting ideas. In the following, I try to wrap the discussion up and propose an approach with corresponding TODOs (and priorities). As...

This looks very cool! What do you think that we create a rqt plugin for that?

> in the `SystemInterface`, one may set the command interfaces to the state interfaces after re-loading the controllers to mitigate this behaviour. But not sure if this is the `SystemInterface`'s...