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destogldestogl
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Rename to .
1 parent fe060bd commit 18c69f2

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-61
lines changed

‎example_3/bringup/launch/rrbot_base.launch.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -65,17 +65,17 @@ def generate_launch_description():
6565
)
6666
declared_arguments.append(
6767
DeclareLaunchArgument(
68-
"use_fake_hardware",
68+
"use_mock_hardware",
6969
default_value="true",
70-
description="Start robot with fake hardware mirroring command to its states.",
70+
description="Start robot with mock hardware mirroring command to its states.",
7171
)
7272
)
7373
declared_arguments.append(
7474
DeclareLaunchArgument(
7575
"mock_sensor_commands",
7676
default_value="false",
7777
description="Enable fake command interfaces for sensors used for simple simulations. \
78-
Used only if 'use_fake_hardware' parameter is true.",
78+
Used only if 'use_mock_hardware' parameter is true.",
7979
)
8080
)
8181
declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
104104
description_package = LaunchConfiguration("description_package")
105105
description_file = LaunchConfiguration("description_file")
106106
prefix = LaunchConfiguration("prefix")
107-
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
107+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
108108
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
109109
slowdown = LaunchConfiguration("slowdown")
110110
robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
122122
"prefix:=",
123123
prefix,
124124
" ",
125-
"use_fake_hardware:=",
126-
use_fake_hardware,
125+
"use_mock_hardware:=",
126+
use_mock_hardware,
127127
" ",
128128
"mock_sensor_commands:=",
129129
mock_sensor_commands,

‎example_3/bringup/launch/rrbot_system_multi_interface.launch.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ def generate_launch_description():
5454
"controllers_file": "rrbot_multi_interface_forward_controllers.yaml",
5555
"description_file": "rrbot_system_multi_interface.urdf.xacro",
5656
"prefix": prefix,
57-
"use_fake_hardware": "false",
57+
"use_mock_hardware": "false",
5858
"mock_sensor_commands": "false",
5959
"slowdown": slowdown,
6060
"robot_controller": robot_controller,

‎example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,17 @@
11
<?xml version="1.0"?>
22
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
33

4-
<xacro:macro name="rrbot_system_multi_interface" params="name prefix use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
4+
<xacro:macro name="rrbot_system_multi_interface" params="name prefix use_mock_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
55

66
<ros2_control name="${name}" type="system">
77

88
<hardware>
9-
<xacro:if value="${use_fake_hardware}">
9+
<xacro:if value="${use_mock_hardware}">
1010
<plugin>mock_components/GenericSystem</plugin>
1111
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
1212
<param name="state_following_offset">0.0</param>
1313
</xacro:if>
14-
<xacro:unless value="${use_fake_hardware}">
14+
<xacro:unless value="${use_mock_hardware}">
1515
<plugin>ros2_control_demo_example_3/RRBotSystemMultiInterfaceHardware</plugin>
1616
<param name="example_param_hw_start_duration_sec">0.0</param>
1717
<param name="example_param_hw_stop_duration_sec">3.0</param>

‎example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
77
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
88

99
<!-- Enable setting arguments from the launch file -->
10-
<xacro:arg name="use_fake_hardware" default="false" />
10+
<xacro:arg name="use_mock_hardware" default="false" />
1111
<xacro:arg name="mock_sensor_commands" default="false" />
1212
<xacro:arg name="prefix" default="" />
1313
<xacro:arg name="slowdown" default="100.0" />
@@ -30,7 +30,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
3030

3131
<xacro:rrbot_system_multi_interface
3232
name="RRBotSystemMultiInterface" prefix="$(arg prefix)"
33-
use_fake_hardware="$(arg use_fake_hardware)"
33+
use_mock_hardware="$(arg use_mock_hardware)"
3434
mock_sensor_commands="$(arg mock_sensor_commands)"
3535
slowdown="$(arg slowdown)" />
3636

‎example_4/bringup/launch/rrbot_base.launch.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -65,17 +65,17 @@ def generate_launch_description():
6565
)
6666
declared_arguments.append(
6767
DeclareLaunchArgument(
68-
"use_fake_hardware",
68+
"use_mock_hardware",
6969
default_value="true",
70-
description="Start robot with fake hardware mirroring command to its states.",
70+
description="Start robot with mock hardware mirroring command to its states.",
7171
)
7272
)
7373
declared_arguments.append(
7474
DeclareLaunchArgument(
7575
"mock_sensor_commands",
7676
default_value="false",
7777
description="Enable fake command interfaces for sensors used for simple simulations. \
78-
Used only if 'use_fake_hardware' parameter is true.",
78+
Used only if 'use_mock_hardware' parameter is true.",
7979
)
8080
)
8181
declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
104104
description_package = LaunchConfiguration("description_package")
105105
description_file = LaunchConfiguration("description_file")
106106
prefix = LaunchConfiguration("prefix")
107-
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
107+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
108108
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
109109
slowdown = LaunchConfiguration("slowdown")
110110
robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
122122
"prefix:=",
123123
prefix,
124124
" ",
125-
"use_fake_hardware:=",
126-
use_fake_hardware,
125+
"use_mock_hardware:=",
126+
use_mock_hardware,
127127
" ",
128128
"mock_sensor_commands:=",
129129
mock_sensor_commands,

‎example_4/bringup/launch/rrbot_system_with_sensor.launch.py‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -35,17 +35,17 @@ def generate_launch_description():
3535
)
3636
declared_arguments.append(
3737
DeclareLaunchArgument(
38-
"use_fake_hardware",
38+
"use_mock_hardware",
3939
default_value="false",
40-
description="Start robot with fake hardware mirroring command to its states.",
40+
description="Start robot with mock hardware mirroring command to its states.",
4141
)
4242
)
4343
declared_arguments.append(
4444
DeclareLaunchArgument(
4545
"mock_sensor_commands",
4646
default_value="false",
4747
description="Enable fake command interfaces for sensors used for simple simulations. \
48-
Used only if 'use_fake_hardware' parameter is true.",
48+
Used only if 'use_mock_hardware' parameter is true.",
4949
)
5050
)
5151
declared_arguments.append(
@@ -58,7 +58,7 @@ def generate_launch_description():
5858

5959
# Initialize Arguments
6060
prefix = LaunchConfiguration("prefix")
61-
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
61+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
6262
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
6363
slowdown = LaunchConfiguration("slowdown")
6464

@@ -68,7 +68,7 @@ def generate_launch_description():
6868
"controllers_file": "rrbot_with_sensor_controllers.yaml",
6969
"description_file": "rrbot_system_with_sensor.urdf.xacro",
7070
"prefix": prefix,
71-
"use_fake_hardware": use_fake_hardware,
71+
"use_mock_hardware": use_mock_hardware,
7272
"mock_sensor_commands": mock_sensor_commands,
7373
"slowdown": slowdown,
7474
}.items(),

‎example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,17 @@
11
<?xml version="1.0"?>
22
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
33

4-
<xacro:macro name="rrbot_system_with_sensor" params="name prefix use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
4+
<xacro:macro name="rrbot_system_with_sensor" params="name prefix use_mock_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
55

66
<ros2_control name="${name}" type="system">
77

88
<hardware>
9-
<xacro:if value="${use_fake_hardware}">
9+
<xacro:if value="${use_mock_hardware}">
1010
<plugin>mock_components/GenericSystem</plugin>
1111
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
1212
<param name="state_following_offset">0.0</param>
1313
</xacro:if>
14-
<xacro:unless value="${use_fake_hardware}">
14+
<xacro:unless value="${use_mock_hardware}">
1515
<plugin>ros2_control_demo_example_4/RRBotSystemWithSensorHardware</plugin>
1616
<param name="example_param_hw_start_duration_sec">0.0</param>
1717
<param name="example_param_hw_stop_duration_sec">3.0</param>

‎example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
77
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
88

99
<!-- Enable setting arguments from the launch file -->
10-
<xacro:arg name="use_fake_hardware" default="false" />
10+
<xacro:arg name="use_mock_hardware" default="false" />
1111
<xacro:arg name="mock_sensor_commands" default="false" />
1212
<xacro:arg name="prefix" default="" />
1313
<xacro:arg name="slowdown" default="50.0" />
@@ -30,7 +30,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
3030

3131
<xacro:rrbot_system_with_sensor
3232
name="RRBotSystemWithSensor" prefix="$(arg prefix)"
33-
use_fake_hardware="$(arg use_fake_hardware)"
33+
use_mock_hardware="$(arg use_mock_hardware)"
3434
mock_sensor_commands="$(arg mock_sensor_commands)"
3535
slowdown="$(arg slowdown)" />
3636

‎example_5/bringup/launch/rrbot_base.launch.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -65,17 +65,17 @@ def generate_launch_description():
6565
)
6666
declared_arguments.append(
6767
DeclareLaunchArgument(
68-
"use_fake_hardware",
68+
"use_mock_hardware",
6969
default_value="true",
70-
description="Start robot with fake hardware mirroring command to its states.",
70+
description="Start robot with mock hardware mirroring command to its states.",
7171
)
7272
)
7373
declared_arguments.append(
7474
DeclareLaunchArgument(
7575
"mock_sensor_commands",
7676
default_value="false",
7777
description="Enable fake command interfaces for sensors used for simple simulations. \
78-
Used only if 'use_fake_hardware' parameter is true.",
78+
Used only if 'use_mock_hardware' parameter is true.",
7979
)
8080
)
8181
declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
104104
description_package = LaunchConfiguration("description_package")
105105
description_file = LaunchConfiguration("description_file")
106106
prefix = LaunchConfiguration("prefix")
107-
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
107+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
108108
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
109109
slowdown = LaunchConfiguration("slowdown")
110110
robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
122122
"prefix:=",
123123
prefix,
124124
" ",
125-
"use_fake_hardware:=",
126-
use_fake_hardware,
125+
"use_mock_hardware:=",
126+
use_mock_hardware,
127127
" ",
128128
"mock_sensor_commands:=",
129129
mock_sensor_commands,

‎example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -35,17 +35,17 @@ def generate_launch_description():
3535
)
3636
declared_arguments.append(
3737
DeclareLaunchArgument(
38-
"use_fake_hardware",
38+
"use_mock_hardware",
3939
default_value="false",
40-
description="Start robot with fake hardware mirroring command to its states.",
40+
description="Start robot with mock hardware mirroring command to its states.",
4141
)
4242
)
4343
declared_arguments.append(
4444
DeclareLaunchArgument(
4545
"mock_sensor_commands",
4646
default_value="false",
4747
description="Enable fake command interfaces for sensors used for simple simulations. \
48-
Used only if 'use_fake_hardware' parameter is true.",
48+
Used only if 'use_mock_hardware' parameter is true.",
4949
)
5050
)
5151

@@ -59,7 +59,7 @@ def generate_launch_description():
5959

6060
# Initialize Arguments
6161
prefix = LaunchConfiguration("prefix")
62-
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
62+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
6363
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
6464
slowdown = LaunchConfiguration("slowdown")
6565

@@ -69,7 +69,7 @@ def generate_launch_description():
6969
"controllers_file": "rrbot_with_external_sensor_controllers.yaml",
7070
"description_file": "rrbot_system_with_external_sensor.urdf.xacro",
7171
"prefix": prefix,
72-
"use_fake_hardware": use_fake_hardware,
72+
"use_mock_hardware": use_mock_hardware,
7373
"mock_sensor_commands": mock_sensor_commands,
7474
"slowdown": slowdown,
7575
}.items(),

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