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Use mock_hardware and mock_sensor_commands instead of fake #739

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merged 2 commits into from
Jul 13, 2023
Merged

Use mock_hardware and mock_sensor_commands instead of fake #739

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5e11636
Use mock_hardware and mock_sensor_commands instead of fake
fmauch Jul 11, 2023
f5542c9
Update documentation to mock_hardware
fmauch Jul 12, 2023
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10 changes: 5 additions & 5 deletions ur_moveit_config/launch/ur_moveit.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
ur_type = LaunchConfiguration("ur_type")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
safety_limits = LaunchConfiguration("safety_limits")
safety_pos_margin = LaunchConfiguration("safety_pos_margin")
safety_k_position = LaunchConfiguration("safety_k_position")
Expand Down Expand Up @@ -166,8 +166,8 @@ def launch_setup(context, *args, **kwargs):

# Trajectory Execution Configuration
controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
# the scaled_joint_trajectory_controller does not work on fake hardware
change_controllers = context.perform_substitution(use_fake_hardware)
# the scaled_joint_trajectory_controller does not work on mock hardware
change_controllers = context.perform_substitution(use_mock_hardware)
if change_controllers == "true":
controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
controllers_yaml["joint_trajectory_controller"]["default"] = True
Expand Down Expand Up @@ -268,9 +268,9 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Indicate whether robot is running with fake hardware mirroring command to its states.",
description="Indicate whether robot is running with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur10.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur10",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur10e.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur10e",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur16e.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur16e",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur3.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur3",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur3e.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur3e",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur5.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur5",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur5e.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
"use_mock_hardware",
default_value="false",
description="Start robot with fake hardware mirroring command to its states.",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"fake_sensor_commands",
"mock_sensor_commands",
default_value="false",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur5e",
"robot_ip": robot_ip,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
Expand Down
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