more general combined launch file

franka_control/launch/franka_combined_control.launch

@@ -9,32 +9,39 @@
        roslaunch <pkg> <launchfile> robot:=path/to/urdf.xacro args:="foo\:\=bar other\:\=true"  -->
   <arg name="args" default="" />
 
+  <!-- The name of the combined robot, used as control node name -->
   <arg name="robot_id" default="combined_panda" />
-  <arg name="robot_1_ip" default="robot_1.franka.de" />
-  <arg name="robot_2_ip" default="robot_2.franka.de" />
+
+  <!-- The config file containing all parameters for the combined hardware node like the IPs of the robots etc. -->
   <arg name="hw_config_file" default="$(find franka_control)/config/franka_combined_control_node.yaml"/>
 
+  <!-- The config file containing the parameterization for all controllers to start with this launch file -->
+  <arg name="controllers_file" default="$(find franka_control)/config/default_combined_controllers.yaml" />
+
+  <!-- The space separated list of controllers to start in this launch files. The controllers should be known from the controllers_file -->
+  <arg name="controllers_to_start" default="panda_1_state_controller panda_2_state_controller"/>
+
+  <!-- The list of the joint_states topics of all combined robots to fuse to a complete topic -->
+  <arg name="joint_states_source_list" default="[panda_1_state_controller/joint_states, panda_2_state_controller/joint_states, panda_1/franka_gripper/joint_states, panda_2/franka_gripper/joint_states]"/>
+
   <node name="$(arg robot_id)" pkg="franka_control" type="franka_combined_control_node" output="screen" required="true" >
     <rosparam command="load" file="$(arg hw_config_file)" />
-    <param name="panda_1/robot_ip" value="$(arg robot_1_ip)" />
-    <param name="panda_2/robot_ip" value="$(arg robot_2_ip)" />
     <param name="robot_description" command="xacro --inorder $(arg robot) $(arg args)" />
   </node>
 
   <group ns="$(arg robot_id)">
-    <rosparam command="load" file="$(find franka_control)/config/default_combined_controllers.yaml" />
+
+    <rosparam command="load" file="$(arg controllers_file)" />
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
+      args="(arg controllers_to_start)"/>
+
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
-    <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
-      args="panda_1_state_controller panda_2_state_controller"/>
     <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
       <param name="robot_description" command="xacro --inorder $(arg robot) $(arg args)" />
-      <rosparam param="source_list">[panda_1_state_controller/joint_states,
-        panda_2_state_controller/joint_states,
-        panda_1/franka_gripper/joint_states,
-        panda_2/franka_gripper/joint_states]
-      </rosparam>
+      <rosparam param="source_list"  subst_value="true">$(arg joint_states_source_list)</rosparam>
       <param name="rate" value="30"/>
     </node>
+
   </group>
 
 </launch>

franka_example_controllers/launch/dual_arm_cartesian_impedance_example_controller.launch

 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_id" default="panda_dual" />
-  <arg name="robot_right_ip" default="robot_1.franka.de" />
-  <arg name="robot_left_ip" default="robot_2.franka.de" />
   <arg name="rviz" default="true" />
   <arg name="rqt" default="true" />
 
   <include file="$(find franka_control)/launch/franka_combined_control.launch" >
     <arg name="robot_id" value="$(arg robot_id)" />
-    <arg name="robot_1_ip" value="$(arg robot_right_ip)" />
-    <arg name="robot_2_ip" value="$(arg robot_left_ip)" />
   </include>
 
   <group ns="$(arg robot_id)">