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Change fake_sensor_commands->mock_sensor_commands #260

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Change fake_sensor_commands->mock_sensor_commands #260

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4 changes: 2 additions & 2 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@

<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.

sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
Expand Down Expand Up @@ -33,7 +33,7 @@
</xacro:if>
<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.

<param name="state_following_offset">0.0</param>
<param name="calculate_dynamics">true</param>
</xacro:if>
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4 changes: 2 additions & 2 deletions urdf/ur.urdf.xacro
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Expand Up @@ -43,7 +43,7 @@

<!-- 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.

<xacro:arg name="sim_gazebo" default="false" />
<xacro:arg name="sim_ignition" default="false" />
<xacro:arg name="simulation_controllers" default="" />
Expand Down Expand Up @@ -99,7 +99,7 @@
safety_pos_margin="$(arg safety_pos_margin)"
safety_k_position="$(arg safety_k_position)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
mock_sensor_commands="$(arg mock_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
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4 changes: 2 additions & 2 deletions urdf/ur_macro.xacro
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Expand Up @@ -68,7 +68,7 @@
safety_pos_margin:=0.15
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.

sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
Expand Down Expand Up @@ -113,7 +113,7 @@
name="${name}"
use_fake_hardware="${use_fake_hardware}"
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
mock_sensor_commands="${mock_sensor_commands}"
headless_mode="${headless_mode}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
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