remove use_mock_hardware from moveit launchfile

ur_moveit_config/config/controllers.yaml

@@ -1,7 +1,5 @@
 controller_names:
   - scaled_joint_trajectory_controller
-  - joint_trajectory_controller
-
 
 scaled_joint_trajectory_controller:
   action_ns: follow_joint_trajectory
@@ -14,16 +12,3 @@ scaled_joint_trajectory_controller:
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint
-
-
-joint_trajectory_controller:
-  action_ns: follow_joint_trajectory
-  type: FollowJointTrajectory
-  default: false
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint

ur_moveit_config/launch/ur_moveit.launch.py

@@ -44,7 +44,6 @@
 def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
-    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")
@@ -166,11 +165,6 @@ 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 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
 
     moveit_controllers = {
         "moveit_simple_controller_manager": controllers_yaml,
@@ -266,13 +260,6 @@ def generate_launch_description():
             choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "use_mock_hardware",
-            default_value="false",
-            description="Indicate whether robot is running with mock hardware mirroring command to its states.",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",

ur_robot_driver/doc/usage.rst

@@ -73,7 +73,7 @@ outside of this driver's scope.
    * - mode
      - available controllers
    * - mock_hardware
-     - :raw-html-m2r:`<ul><li>joint_trajectory_controller</li><li>forward_velocity_controller</li><li>forward_position_controller</li></ul>`
+     - :raw-html-m2r:`<ul><li>joint_trajectory_controller</li><li>scaled_joint_trajectory_controller </li><li>forward_velocity_controller</li><li>forward_position_controller</li></ul>`
    * - real hardware / URSim
      - :raw-html-m2r:`<ul><li>joint_trajectory_controller</li><li>scaled_joint_trajectory_controller </li><li>forward_velocity_controller</li><li>forward_position_controller</li></ul>`
 
@@ -194,14 +194,18 @@ robot as explained `here <https://moveit.picknik.ai/galactic/doc/tutorials/quick
 Mock hardware
 ^^^^^^^^^^^^^
 
-Currently, the ``scaled_joint_trajectory_controller`` does not work with ros2_control mock_hardware. There is an
-`upstream Merge-Request <https://github.com/ros-controls/ros2_control/pull/822>`_ pending to fix that. Until this is merged and released, you'll have to fallback to the ``joint_trajectory_controller`` by passing ``initial_controller:=joint_trajectory_controller`` to the driver's startup. Also, you'll have to tell MoveIt! that you're using mock_hardware as it then has to map to the other controller:
+To test the driver on mock hardware with the example MoveIt-setup, first start the driver as described
+`above <#start-hardware-simulator-or-mockup>`_.
 
 .. code-block::
 
-   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
+   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true launch_rviz:=false
    # and in another shell
-   ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true use_mock_hardware:=true
+   ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
+
+Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the
+robot as explained `here <https://moveit.picknik.ai/galactic/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
+
 
 Robot frames
 ------------