added missing ip and fixed controllers arg

franka_control/config/franka_combined_control_node.yaml

@@ -5,6 +5,7 @@ robot_hardware:
 panda_1:
   type: franka_hw/FrankaCombinableHW
   arm_id: panda_1
+  robot_ip: robot_1.franka.de
   joint_names:
     - panda_1_joint1
     - panda_1_joint2
@@ -37,6 +38,7 @@ panda_1:
 panda_2:
   type: franka_hw/FrankaCombinableHW
   arm_id: panda_2
+  robot_ip: robot_2.franka.de
   joint_names:
     - panda_2_joint1
     - panda_2_joint2

franka_control/launch/franka_combined_control.launch

@@ -32,8 +32,8 @@
   <group ns="$(arg robot_id)">
 
     <rosparam command="load" file="$(arg controllers_file)" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
-      args="(arg controllers_to_start)"/>
+    <node name="hw_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
+      args="$(arg controllers_to_start)"/>
 
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
     <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">