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urdf/ros2_control: use mock_components instead of fake_components (#33)

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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!!!
This commit is contained in:
Abe Tomoaki 2026-01-08 17:47:56 +09:00 committed by GitHub
parent c751d3fac9
commit ac50a7fd2c
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GPG Key ID: B5690EEEBB952194
2 changed files with 3 additions and 3 deletions
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4
urdf/ros2_control/openarm.bimanual.ros2_control.xacro
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@ -17,7 +17,7 @@
<hardware> <hardware>
<param name="arm_type">${arm_type}</param> <param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}"> <xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin> <plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param> <param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param> <param name="state_following_offset">0.0</param>
</xacro:if> </xacro:if>
@ -68,7 +68,7 @@
<hardware> <hardware>
<param name="arm_type">${arm_type}</param> <param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}"> <xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin> <plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param> <param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param> <param name="state_following_offset">0.0</param>
</xacro:if> </xacro:if>

2
urdf/ros2_control/openarm.ros2_control.xacro
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@ -17,7 +17,7 @@
<param name="arm_type">${arm_type}</param> <param name="arm_type">${arm_type}</param>
<param name="prefix">${arm_prefix}</param> <param name="prefix">${arm_prefix}</param>
<xacro:if value="${use_fake_hardware}"> <xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin> <plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param> <param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param> <param name="state_following_offset">0.0</param>
</xacro:if> </xacro:if>