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## title = Loading and starting controllers through service calls
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## description = How to start controllers in ros_control
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

Controllers are loaded into the the controller_manager through service requests. These service requests can be sent manually at the command line, or through the controller spawner python script that can be used inside of roslaunch files.

== Command Line Service Calls ==

=== Load the controllers: ===

{{{
rosservice call /rrbot/controller_manager/load_controller "name: 'joint1_position_controller'"
rosservice call /rrbot/controller_manager/load_controller "name: 'joint2_position_controller'"
}}}

=== Start the controllers: ===

{{{
rosservice call /rrbot/controller_manager/switch_controller "{start_controllers: ['joint1_position_controller','joint2_position_controller'], stop_controllers: [], strictness: 2}"
}}}

=== Stop the controllers: ===

{{{
rosservice call /rrbot/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['joint1_position_controller','joint2_position_controller'], strictness: 2}"
}}}

== ROSLaunch Call ==

The following uses a mode controller to tell the hardware interface which control mode to use (velocity in this instance). It also loads a controller for each arm of the robot in this example. This spawner loads and starts all three controllers.
{{{
<!-- Load the default controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
  output="screen" ns="/robot" args="velocity_joint_mode_controller
				    right_velocity_trajectory_controller
				    left_velocity_trajectory_controller
				    " />
}}}

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