From 19cbb6f8fd5caaca2a3c35173f8225e00cbd9ddc Mon Sep 17 00:00:00 2001 From: Vincenzo Di Pentima Date: Wed, 20 Mar 2024 09:46:05 +0000 Subject: [PATCH] Switched "use_mock_hardware" to "use_fake_hardware" for UR20 --- ur_robot_driver/launch/ur20.launch.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/ur_robot_driver/launch/ur20.launch.py b/ur_robot_driver/launch/ur20.launch.py index 9c462252c..833fd46ee 100644 --- a/ur_robot_driver/launch/ur20.launch.py +++ b/ur_robot_driver/launch/ur20.launch.py @@ -46,17 +46,17 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "use_mock_hardware", + "use_fake_hardware", default_value="false", - description="Start robot with mock hardware mirroring command to its states.", + description="Start robot with fake hardware mirroring command to its states.", ) ) declared_arguments.append( DeclareLaunchArgument( - "mock_sensor_commands", + "fake_sensor_commands", default_value="false", - description="Enable mock command interfaces for sensors used for simple simulations. \ - Used only if 'use_mock_hardware' parameter is true.", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", ) ) declared_arguments.append( @@ -82,8 +82,8 @@ def generate_launch_description(): # Initialize Arguments robot_ip = LaunchConfiguration("robot_ip") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") initial_joint_controller = LaunchConfiguration("initial_joint_controller") activate_joint_controller = LaunchConfiguration("activate_joint_controller") @@ -92,8 +92,8 @@ def generate_launch_description(): launch_arguments={ "ur_type": "ur20", "robot_ip": robot_ip, - "use_mock_hardware": use_mock_hardware, - "mock_sensor_commands": mock_sensor_commands, + "use_fake_hardware": use_fake_hardware, + "fake_sensor_commands": fake_sensor_commands, "initial_joint_controller": initial_joint_controller, "activate_joint_controller": activate_joint_controller, }.items(),