Activate/start renaming

Author: AndyZe

README.md

@@ -588,7 +588,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`.
 
 3. Now start the controller:
    ```
-   ros2 control switch_controllers --start forward_position_controller
+   ros2 control switch_controllers --activate forward_position_controller
    ```
    Check if controllers are activated:
    ```
@@ -631,7 +631,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`.
 
 2. Now start the controller (and stop other running contorller):
    ```
-   ros2 control switch_controllers --stop forward_position_controller --start position_trajectory_controller
+   ros2 control switch_controllers --deactivate forward_position_controller --activate position_trajectory_controller
    ```
    Check if controllers are activated:
    ```

doc/index.rst

@@ -87,7 +87,7 @@ Let's switch controllers now to velocity
 
 .. code-block:: bash
 
-    ros2 control switch_controllers --stop forward_position_controller --start forward_velocity_controller
+    ros2 control switch_controllers --deactivate forward_position_controller --activate forward_velocity_controller
 
 List hardware interfaces again to see that indeed position interfaces have been unclaimed while velocity is claimed now
 

ros2_control_demo_bringup/launch/admittance_controller_demo.launch.py

@@ -310,13 +310,13 @@ def launch_setup(context, *args, **kwargs):
     admittance_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["admittance_controller", "-c", "/controller_manager", "--stopped"],
+        arguments=["admittance_controller", "-c", "/controller_manager", "--deactivateped"],
     )
 
     joint_trajectory_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_trajectory_controller", "-c", "/controller_manager", "--stopped"],
+        arguments=["joint_trajectory_controller", "-c", "/controller_manager", "--deactivateped"],
     )
 
     faked_forces_controller_spawner = Node(

using_admittance_controller.md

@@ -33,7 +33,7 @@ Start the demo using:
 
 1. Activate the admittance controller:
    ```
-   ros2 control switch_controllers --start admittance_controller
+   ros2 control switch_controllers --activate admittance_controller
    ```
 
 1. Start custom version of `teleop_twist_keyboard` to publish fake forces: