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fake_sensor_commands renamed #200

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merged 1 commit into from
Nov 2, 2022
Merged

fake_sensor_commands renamed #200

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8 changes: 4 additions & 4 deletions ros2_control_demo_bringup/launch/rrbot_base.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ def generate_launch_description():
)
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.",
Expand Down Expand Up @@ -113,7 +113,7 @@ def generate_launch_description():
prefix = LaunchConfiguration("prefix")
use_gazebo = LaunchConfiguration("use_gazebo")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
slowdown = LaunchConfiguration("slowdown")
robot_controller = LaunchConfiguration("robot_controller")
start_rviz = LaunchConfiguration("start_rviz")
Expand All @@ -136,8 +136,8 @@ def generate_launch_description():
"use_fake_hardware:=",
use_fake_hardware,
" ",
"fake_sensor_commands:=",
fake_sensor_commands,
"mock_sensor_commands:=",
mock_sensor_commands,
" ",
"slowdown:=",
slowdown,
Expand Down
2 changes: 1 addition & 1 deletion ros2_control_demo_bringup/launch/rrbot_system_multi_interface.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ def generate_launch_description():
"description_file": "rrbot_system_multi_interface.urdf.xacro",
"prefix": prefix,
"use_fake_hardware": "false",
"fake_sensor_commands": "false",
"mock_sensor_commands": "false",
"slowdown": slowdown,
"robot_controller": robot_controller,
}.items(),
Expand Down
6 changes: 3 additions & 3 deletions ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ def generate_launch_description():
)
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.",
Expand Down Expand Up @@ -68,7 +68,7 @@ def generate_launch_description():
# Initialize Arguments
prefix = LaunchConfiguration("prefix")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
slowdown = LaunchConfiguration("slowdown")
robot_controller = LaunchConfiguration("robot_controller")
start_rviz = LaunchConfiguration("start_rviz")
Expand All @@ -79,7 +79,7 @@ def generate_launch_description():
"description_file": "rrbot_system_position_only.urdf.xacro",
"prefix": prefix,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"mock_sensor_commands": mock_sensor_commands,
"slowdown": slowdown,
"robot_controller": robot_controller,
"start_rviz": start_rviz,
Expand Down
6 changes: 3 additions & 3 deletions ros2_control_demo_bringup/launch/rrbot_system_with_external_sensor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ def generate_launch_description():
)
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.",
Expand All @@ -60,7 +60,7 @@ def generate_launch_description():
# Initialize Arguments
prefix = LaunchConfiguration("prefix")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
slowdown = LaunchConfiguration("slowdown")

base_launch = IncludeLaunchDescription(
Expand All @@ -70,7 +70,7 @@ def generate_launch_description():
"description_file": "rrbot_system_with_external_sensor.urdf.xacro",
"prefix": prefix,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"mock_sensor_commands": mock_sensor_commands,
"slowdown": slowdown,
}.items(),
)
Expand Down
6 changes: 3 additions & 3 deletions ros2_control_demo_bringup/launch/rrbot_system_with_sensor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ def generate_launch_description():
)
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.",
Expand All @@ -59,7 +59,7 @@ def generate_launch_description():
# Initialize Arguments
prefix = LaunchConfiguration("prefix")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
slowdown = LaunchConfiguration("slowdown")

base_launch = IncludeLaunchDescription(
Expand All @@ -69,7 +69,7 @@ def generate_launch_description():
"description_file": "rrbot_system_with_sensor.urdf.xacro",
"prefix": prefix,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"mock_sensor_commands": mock_sensor_commands,
"slowdown": slowdown,
}.items(),
)
Expand Down
4 changes: 2 additions & 2 deletions ...ntrol_demo_description/diffbot_description/ros2_control/diffbot_system.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="diffbot_system" params="name prefix use_fake_hardware:=^|false fake_sensor_commands:=^|false">
<xacro:macro name="diffbot_system" params="name prefix use_fake_hardware:=^|false mock_sensor_commands:=^|false">

<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${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>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
Expand Down
4 changes: 2 additions & 2 deletions ros2_control_demo_description/diffbot_description/urdf/diffbot_system.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/diffbot_de

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="true" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="mock_sensor_commands" default="false" />
<xacro:arg name="prefix" default="" />

<xacro:include filename="$(find diffbot_description)/urdf/diffbot.urdf.xacro" />
Expand All @@ -30,6 +30,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/diffbot_de
<xacro:diffbot_system
name="DiffBotSystem" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"/>
mock_sensor_commands="$(arg mock_sensor_commands)"/>

</robot>
4 changes: 2 additions & 2 deletions ...tion/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="external_rrbot_force_torque_sensor" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false">
<xacro:macro name="external_rrbot_force_torque_sensor" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true mock_sensor_commands:=^|false">

<ros2_control name="${name}" type="sensor">
<hardware>
<xacro:if value="${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>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
Expand Down
4 changes: 2 additions & 2 deletions ...escription/rrbot_description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_system_multi_interface" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_system_multi_interface" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">

<ros2_control name="${name}" type="system">

Expand All @@ -14,7 +14,7 @@
<hardware>
<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">${mock_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
Expand Down
4 changes: 2 additions & 2 deletions ..._description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_system_position_only" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_system_position_only" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">

<ros2_control name="${name}" type="system">

Expand All @@ -14,7 +14,7 @@
<hardware>
<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">${mock_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
Expand Down
4 changes: 2 additions & 2 deletions ...mo_description/rrbot_description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro
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@@ -1,14 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_system_with_sensor" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_system_with_sensor" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">

<ros2_control name="${name}" type="system">

<hardware>
<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">${mock_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
Expand Down
4 changes: 2 additions & 2 deletions ros2_control_demo_description/rrbot_description/urdf/rrbot_system_multi_interface.urdf.xacro
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Expand Up @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="mock_sensor_commands" default="false" />
<xacro:arg name="prefix" default="" />
<xacro:arg name="slowdown" default="100.0" />

Expand Down Expand Up @@ -40,7 +40,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
<xacro:rrbot_system_multi_interface
name="RRBotSystemMultiInterface" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
mock_sensor_commands="$(arg mock_sensor_commands)"
slowdown="$(arg slowdown)" />

</robot>
4 changes: 2 additions & 2 deletions ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro
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Expand Up @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="mock_sensor_commands" default="false" />
<xacro:arg name="prefix" default="" />
<xacro:arg name="slowdown" default="100.0" />

Expand Down Expand Up @@ -40,7 +40,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
<xacro:rrbot_system_position_only
name="RRBotSystemPositionOnly" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
mock_sensor_commands="$(arg mock_sensor_commands)"
slowdown="$(arg slowdown)" />

</robot>
6 changes: 3 additions & 3 deletions ...trol_demo_description/rrbot_description/urdf/rrbot_system_with_external_sensor.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="true" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="mock_sensor_commands" default="false" />
<xacro:arg name="prefix" default="" />
<xacro:arg name="slowdown" default="50.0" />

Expand Down Expand Up @@ -38,11 +38,11 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
<xacro:rrbot_system_position_only
name="RRBotSystemPositionOnly" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
mock_sensor_commands="$(arg mock_sensor_commands)"
slowdown="$(arg slowdown)" />

<xacro:external_rrbot_force_torque_sensor
name="ExternalRRBotFTSensor" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)" />
mock_sensor_commands="$(arg mock_sensor_commands)" />
</robot>
4 changes: 2 additions & 2 deletions ros2_control_demo_description/rrbot_description/urdf/rrbot_system_with_sensor.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="mock_sensor_commands" default="false" />
<xacro:arg name="prefix" default="" />
<xacro:arg name="slowdown" default="50.0" />

Expand All @@ -35,7 +35,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
<xacro:rrbot_system_with_sensor
name="RRBotSystemWithSensor" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
mock_sensor_commands="$(arg mock_sensor_commands)"
slowdown="$(arg slowdown)" />

</robot>