Change fake_sensor_commands->mock_sensor_commands #260
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Thank you for your input.
To my knowledge, fake_sensor_commands should still be working for the mock_components/generic_system.
I don't know about MoveitPro, but with the moveit2 support package from the driver repo everything works fine. As noted in the comments, I would advocate against changing the public-facing parameter name inside Humble. We have renamed it to mock_... from Jazzy on.
| <xacro:macro name="ur_ros2_control" params=" | ||
| name | ||
| use_fake_hardware:=false fake_sensor_commands:=false | ||
| use_fake_hardware:=false mock_sensor_commands:=false |
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I would rather not change the public-facing parameters inside a running distribution.
| <xacro:if value="${use_fake_hardware}"> | ||
| <plugin>mock_components/GenericSystem</plugin> | ||
| <param name="fake_sensor_commands">${fake_sensor_commands}</param> | ||
| <param name="mock_sensor_commands">${mock_sensor_commands}</param> |
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That's definitively a change we can make. Though mock_components/generic_system should only throw a deprecation warning on this.
| <!-- Simulation parameters --> | ||
| <xacro:arg name="use_fake_hardware" default="false" /> | ||
| <xacro:arg name="fake_sensor_commands" default="false" /> | ||
| <xacro:arg name="mock_sensor_commands" default="false" /> |
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public facing, so let's netter not change it.
| safety_k_position:=20 | ||
| use_fake_hardware:=false | ||
| fake_sensor_commands:=false | ||
| mock_sensor_commands:=false |
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public facing, so let's netter not change it.
Hello,
we found this in the ros2_control xacro breaks on newer humble snapshots in MoveIt Pro as the parameter name got changed. Has this been UR's experience as well? I think this fix only applies to humble, but let me know if we need to put this in a different upstream.
Thanks,
Shaur