From c4ce7edb4c6c9f5dac90365b9161f2f9893e0770 Mon Sep 17 00:00:00 2001
From: teapfw <37943506+teapfw@users.noreply.github.com>
Date: Thu, 1 Aug 2024 15:22:24 -0400
Subject: [PATCH] Add calculate_dynamics param for ros2 control.

---
 urdf/ur.ros2_control.xacro | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f85c086..decaed2 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -33,7 +33,8 @@
         </xacro:if>
         <xacro:if value="${use_fake_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
-          <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+	  <param name="calculate_dynamics">true</param>
+	  <param name="fake_sensor_commands">${fake_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}">