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Replace fake_sensor_commands with 'mock_sensor_commands (#61)
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sjahr authored Aug 8, 2024
1 parent 5f0c39a commit 27ecc36
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Showing 4 changed files with 8 additions and 8 deletions.
4 changes: 2 additions & 2 deletions robotiq_description/urdf/2f_140.ros2_control.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_fake_hardware:=false
fake_sensor_commands:=false
mock_sensor_commands:=false
com_port:=/dev/ttyUSB0">

<ros2_control name="${name}" type="system">
Expand All @@ -25,7 +25,7 @@
</xacro:if>
<xacro:if value="${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>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
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4 changes: 2 additions & 2 deletions robotiq_description/urdf/2f_85.ros2_control.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_fake_hardware:=false
fake_sensor_commands:=false
mock_sensor_commands:=false
com_port:=/dev/ttyUSB0">

<ros2_control name="${name}" type="system">
Expand All @@ -30,7 +30,7 @@
</xacro:if>
<xacro:if value="${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>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
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4 changes: 2 additions & 2 deletions robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_fake_hardware:=false
fake_sensor_commands:=false
mock_sensor_commands:=false
include_ros2_control:=true
com_port:=/dev/ttyUSB0">

Expand All @@ -25,7 +25,7 @@
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
mock_sensor_commands="${mock_sensor_commands}"
com_port="${com_port}"/>
</xacro:if>

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4 changes: 2 additions & 2 deletions robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_fake_hardware:=false
fake_sensor_commands:=false
mock_sensor_commands:=false
include_ros2_control:=true
com_port:=/dev/ttyUSB0">

Expand All @@ -25,7 +25,7 @@
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
mock_sensor_commands="${mock_sensor_commands}"
com_port="${com_port}"/>
</xacro:if>

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