From ac50a7fd2cb6a7a1ee45cb81a1fe2e35e9dc2597 Mon Sep 17 00:00:00 2001
From: Abe Tomoaki <abe@clear-code.com>
Date: Thu, 8 Jan 2026 17:47:56 +0900
Subject: [PATCH] urdf/ros2_control: use `mock_components` instead of
 `fake_components` (#33)

Fix https://github.com/enactic/openarm_ros2/issues/75

There is no mention of `fake_components` in the official documentation
since Humble. We should currently use `mock_components`.
I have confirmed that it works in Humble and Jazzy.

Reported by @ncnynl. Thanks!!!
---
 urdf/ros2_control/openarm.bimanual.ros2_control.xacro | 4 ++--
 urdf/ros2_control/openarm.ros2_control.xacro          | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
index 73c8b99..26dbf1c 100644
--- a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
@@ -17,7 +17,7 @@
         <hardware>
           <param name="arm_type">${arm_type}</param>
           <xacro:if value="${use_fake_hardware}">
-            <plugin>fake_components/GenericSystem</plugin>
+            <plugin>mock_components/GenericSystem</plugin>
             <param name="fake_sensor_commands">${fake_sensor_commands}</param>
             <param name="state_following_offset">0.0</param>
           </xacro:if>
@@ -68,7 +68,7 @@
         <hardware>
           <param name="arm_type">${arm_type}</param>
           <xacro:if value="${use_fake_hardware}">
-            <plugin>fake_components/GenericSystem</plugin>
+            <plugin>mock_components/GenericSystem</plugin>
             <param name="fake_sensor_commands">${fake_sensor_commands}</param>
             <param name="state_following_offset">0.0</param>
           </xacro:if>
diff --git a/urdf/ros2_control/openarm.ros2_control.xacro b/urdf/ros2_control/openarm.ros2_control.xacro
index 553f767..18c2352 100644
--- a/urdf/ros2_control/openarm.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.ros2_control.xacro
@@ -17,7 +17,7 @@
           <param name="arm_type">${arm_type}</param>
           <param name="prefix">${arm_prefix}</param>
           <xacro:if value="${use_fake_hardware}">
-            <plugin>fake_components/GenericSystem</plugin>
+            <plugin>mock_components/GenericSystem</plugin>
             <param name="fake_sensor_commands">${fake_sensor_commands}</param>
             <param name="state_following_offset">0.0</param>
           </xacro:if>