spawner.py parse parameters with namespace wrong

[delihus]

Describe the bug
Using spawner.py with --params-file and --namespace doesn't work properly.

To Reproduce
Steps to reproduce the behavior:

1. Launch controller manager with namespace panther

2. Take this file:

/**:
  controller_manager:
    ros__parameters:
      update_rate: 500  # Hz

      joint_state_broadcaster:
        type: joint_state_broadcaster/JointStateBroadcaster

      io_and_status_controller:
        type: ur_controllers/GPIOController

      speed_scaling_state_broadcaster:
        type: ur_controllers/SpeedScalingStateBroadcaster

      force_torque_sensor_broadcaster:
        type: ur_controllers/ForceTorqueStateBroadcaster

      joint_trajectory_controller:
        type: joint_trajectory_controller/JointTrajectoryController

      scaled_joint_trajectory_controller:
        type: ur_controllers/ScaledJointTrajectoryController

      forward_velocity_controller:
        type: velocity_controllers/JointGroupVelocityController

      forward_position_controller:
        type: position_controllers/JointGroupPositionController


  speed_scaling_state_broadcaster:
    ros__parameters:
      state_publish_rate: 100.0


  force_torque_sensor_broadcaster:
    ros__parameters:
      sensor_name: tcp_fts_sensor
      state_interface_names:
        - force.x
        - force.y
        - force.z
        - torque.x
        - torque.y
        - torque.z
      frame_id: tool0
      topic_name: ft_data


  joint_trajectory_controller:
    ros__parameters:
      joints:
        - shoulder_pan_joint
        - shoulder_lift_joint
        - elbow_joint
        - wrist_1_joint
        - wrist_2_joint
        - wrist_3_joint
      command_interfaces:
        - position
      state_interfaces:
        - position
        - velocity
      state_publish_rate: 100.0
      action_monitor_rate: 20.0
      allow_partial_joints_goal: false
      constraints:
        stopped_velocity_tolerance: 0.2
        goal_time: 0.0
        shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
        shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
        elbow_joint: { trajectory: 0.2, goal: 0.1 }
        wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
        wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
        wrist_3_joint: { trajectory: 0.2, goal: 0.1 }


  scaled_joint_trajectory_controller:
    ros__parameters:
      joints:
        - shoulder_pan_joint
        - shoulder_lift_joint
        - elbow_joint
        - wrist_1_joint
        - wrist_2_joint
        - wrist_3_joint
      command_interfaces:
        - position
      state_interfaces:
        - position
        - velocity
      state_publish_rate: 100.0
      action_monitor_rate: 20.0
      allow_partial_joints_goal: false
      constraints:
        stopped_velocity_tolerance: 0.2
        goal_time: 0.0
        shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
        shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
        elbow_joint: { trajectory: 0.2, goal: 0.1 }
        wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
        wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
        wrist_3_joint: { trajectory: 0.2, goal: 0.1 }

  forward_velocity_controller:
    ros__parameters:
      joints:
        - shoulder_pan_joint
        - shoulder_lift_joint
        - elbow_joint
        - wrist_1_joint
        - wrist_2_joint
        - wrist_3_joint
      interface_name: velocity

  forward_position_controller:
    ros__parameters:
      joints:
        - shoulder_pan_joint
        - shoulder_lift_joint
        - elbow_joint
        - wrist_1_joint
        - wrist_2_joint
        - wrist_3_joint

2. Save it to /tmp/jtc.yaml

3. Spawn JTC:

python3 spawner.py  joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --namespace panther --param-file /tmp/jtc.yaml --ros-args -r __ns:=/panther -p use_sim_time:=True

4. See error:

/home/deli/Documents/panther_dev/spawner.py:401: DeprecationWarning: 'spawner.py' is deprecated, please use 'spawner' (without .py extension)
[INFO] [1714054504.062935319] [panther.spawner_joint_trajectory_controller]: Set controller params file to "/tmp/jtc.yaml" for panther/joint_trajectory_controller
[FATAL] [1714054504.064816747] [panther.spawner_joint_trajectory_controller]: Failed loading controller panther/joint_trajectory_controller

Expected behavior
JTC should be configured correctly ans spawner.py should correctly parse parameters.

Screenshots
The red is wrong parameter. The green is good after this fix:
https://github.com/ros-controls/ros2_control/blob/humble/controller_manager/controller_manager/spawner.py#L272
FROM:

parameter.name = prefixed_controller_name + ".params_file"

TO:

parameter.name = controller_name + ".params_file"

ERROR

Environment (please complete the following information):

• OS: ubuntu 22.04
• Version humble

[christophfroehlich]

It seems that you have already found a fix, would you mind creating a PR for this?

[delihus]

@christophfroehlich Created PR #1547