Rename "fake_hardware" to "mock_hardware".

ros-controls · Mar 8, 2023 · 6b354fd · 6b354fd
1 parent 161aaa9
commit 6b354fd
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Showing 16 changed files with 61 additions and 61 deletions.
diff --git a/example_3/bringup/launch/rrbot_base.launch.py b/example_3/bringup/launch/rrbot_base.launch.py
@@ -65,17 +65,17 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="true",
-            description="Start robot with fake hardware mirroring command to its states.",
+            description="Start robot with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_fake_hardware:=",
-            use_fake_hardware,
+            "use_mock_hardware:=",
+            use_mock_hardware,
             " ",
             "mock_sensor_commands:=",
             mock_sensor_commands,

diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -54,7 +54,7 @@ def generate_launch_description():
             "controllers_file": "rrbot_multi_interface_forward_controllers.yaml",
             "description_file": "rrbot_system_multi_interface.urdf.xacro",
             "prefix": prefix,
-            "use_fake_hardware": "false",
+            "use_mock_hardware": "false",
             "mock_sensor_commands": "false",
             "slowdown": slowdown,
             "robot_controller": robot_controller,

diff --git a/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro b/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="rrbot_system_multi_interface" params="name prefix use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
+  <xacro:macro name="rrbot_system_multi_interface" params="name prefix use_mock_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
 
     <ros2_control name="${name}" type="system">
 
       <hardware>
-        <xacro:if value="${use_fake_hardware}">
+        <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
-        <xacro:unless value="${use_fake_hardware}">
+        <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_3/RRBotSystemMultiInterfaceHardware</plugin>
           <param name="example_param_hw_start_duration_sec">0.0</param>
           <param name="example_param_hw_stop_duration_sec">3.0</param>

diff --git a/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro b/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro
@@ -7,7 +7,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
 
   <!-- Enable setting arguments from the launch file -->
-  <xacro:arg name="use_fake_hardware" default="false" />
+  <xacro:arg name="use_mock_hardware" default="false" />
   <xacro:arg name="mock_sensor_commands" default="false" />
   <xacro:arg name="prefix" default="" />
   <xacro:arg name="slowdown" default="100.0" />
@@ -30,7 +30,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
   <xacro:rrbot_system_multi_interface
     name="RRBotSystemMultiInterface" prefix="$(arg prefix)"
-    use_fake_hardware="$(arg use_fake_hardware)"
+    use_mock_hardware="$(arg use_mock_hardware)"
     mock_sensor_commands="$(arg mock_sensor_commands)"
     slowdown="$(arg slowdown)" />
 

diff --git a/example_4/bringup/launch/rrbot_base.launch.py b/example_4/bringup/launch/rrbot_base.launch.py
@@ -65,17 +65,17 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="true",
-            description="Start robot with fake hardware mirroring command to its states.",
+            description="Start robot with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_fake_hardware:=",
-            use_fake_hardware,
+            "use_mock_hardware:=",
+            use_mock_hardware,
             " ",
             "mock_sensor_commands:=",
             mock_sensor_commands,

diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -35,17 +35,17 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="false",
-            description="Start robot with fake hardware mirroring command to its states.",
+            description="Start robot with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -58,7 +58,7 @@ def generate_launch_description():
 
     # Initialize Arguments
     prefix = LaunchConfiguration("prefix")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
 
@@ -68,7 +68,7 @@ def generate_launch_description():
             "controllers_file": "rrbot_with_sensor_controllers.yaml",
             "description_file": "rrbot_system_with_sensor.urdf.xacro",
             "prefix": prefix,
-            "use_fake_hardware": use_fake_hardware,
+            "use_mock_hardware": use_mock_hardware,
             "mock_sensor_commands": mock_sensor_commands,
             "slowdown": slowdown,
         }.items(),

diff --git a/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro b/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="rrbot_system_with_sensor" params="name prefix use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
+  <xacro:macro name="rrbot_system_with_sensor" params="name prefix use_mock_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
 
     <ros2_control name="${name}" type="system">
 
       <hardware>
-        <xacro:if value="${use_fake_hardware}">
+        <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
-        <xacro:unless value="${use_fake_hardware}">
+        <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_4/RRBotSystemWithSensorHardware</plugin>
           <param name="example_param_hw_start_duration_sec">0.0</param>
           <param name="example_param_hw_stop_duration_sec">3.0</param>

diff --git a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro
@@ -7,7 +7,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
 
   <!-- Enable setting arguments from the launch file -->
-  <xacro:arg name="use_fake_hardware" default="false" />
+  <xacro:arg name="use_mock_hardware" default="false" />
   <xacro:arg name="mock_sensor_commands" default="false" />
   <xacro:arg name="prefix" default="" />
   <xacro:arg name="slowdown" default="50.0" />
@@ -30,7 +30,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
   <xacro:rrbot_system_with_sensor
     name="RRBotSystemWithSensor" prefix="$(arg prefix)"
-    use_fake_hardware="$(arg use_fake_hardware)"
+    use_mock_hardware="$(arg use_mock_hardware)"
     mock_sensor_commands="$(arg mock_sensor_commands)"
     slowdown="$(arg slowdown)" />
 

diff --git a/example_5/bringup/launch/rrbot_base.launch.py b/example_5/bringup/launch/rrbot_base.launch.py
@@ -65,17 +65,17 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="true",
-            description="Start robot with fake hardware mirroring command to its states.",
+            description="Start robot with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_fake_hardware:=",
-            use_fake_hardware,
+            "use_mock_hardware:=",
+            use_mock_hardware,
             " ",
             "mock_sensor_commands:=",
             mock_sensor_commands,

diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -35,17 +35,17 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="false",
-            description="Start robot with fake hardware mirroring command to its states.",
+            description="Start robot with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
 
@@ -59,7 +59,7 @@ def generate_launch_description():
 
     # Initialize Arguments
     prefix = LaunchConfiguration("prefix")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
 
@@ -69,7 +69,7 @@ def generate_launch_description():
             "controllers_file": "rrbot_with_external_sensor_controllers.yaml",
             "description_file": "rrbot_system_with_external_sensor.urdf.xacro",
             "prefix": prefix,
-            "use_fake_hardware": use_fake_hardware,
+            "use_mock_hardware": use_mock_hardware,
             "mock_sensor_commands": mock_sensor_commands,
             "slowdown": slowdown,
         }.items(),

diff --git a/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro b/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro
@@ -1,16 +1,16 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="external_rrbot_force_torque_sensor" params="name prefix use_fake_hardware:=^|true mock_sensor_commands:=^|false">
+  <xacro:macro name="external_rrbot_force_torque_sensor" params="name prefix use_mock_hardware:=^|true mock_sensor_commands:=^|false">
 
     <ros2_control name="${name}" type="sensor">
       <hardware>
-        <xacro:if value="${use_fake_hardware}">
+        <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
-        <xacro:unless value="${use_fake_hardware}">
+        <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_5/ExternalRRBotForceTorqueSensorHardware</plugin>
           <param name="example_param_hw_start_duration_sec">0.0</param>
           <param name="example_param_hw_stop_duration_sec">3.0</param>

diff --git a/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro b/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="rrbot_system_position_only" params="name prefix use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
+  <xacro:macro name="rrbot_system_position_only" params="name prefix use_mock_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">
 
     <ros2_control name="${name}" type="system">
 
       <hardware>
-        <xacro:if value="${use_fake_hardware}">
+        <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
-        <xacro:unless value="${use_fake_hardware}">
+        <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware</plugin>
           <param name="example_param_hw_start_duration_sec">0.0</param>
           <param name="example_param_hw_stop_duration_sec">3.0</param>

diff --git a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro
@@ -7,7 +7,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
 
   <!-- Enable setting arguments from the launch file -->
-  <xacro:arg name="use_fake_hardware" default="true" />
+  <xacro:arg name="use_mock_hardware" default="true" />
   <xacro:arg name="mock_sensor_commands" default="false" />
   <xacro:arg name="prefix" default="" />
   <xacro:arg name="slowdown" default="50.0" />
@@ -33,12 +33,12 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
   <xacro:rrbot_system_position_only
     name="RRBotSystemPositionOnly" prefix="$(arg prefix)"
-    use_fake_hardware="$(arg use_fake_hardware)"
+    use_mock_hardware="$(arg use_mock_hardware)"
     mock_sensor_commands="$(arg mock_sensor_commands)"
     slowdown="$(arg slowdown)" />
 
   <xacro:external_rrbot_force_torque_sensor
     name="ExternalRRBotFTSensor" prefix="$(arg prefix)"
-    use_fake_hardware="$(arg use_fake_hardware)"
+    use_mock_hardware="$(arg use_mock_hardware)"
     mock_sensor_commands="$(arg mock_sensor_commands)" />
 </robot>
diff --git a/example_6/bringup/launch/rrbot_base.launch.py b/example_6/bringup/launch/rrbot_base.launch.py
@@ -65,17 +65,17 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="true",
-            description="Start robot with fake hardware mirroring command to its states.",
+            description="Start robot with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -104,7 +104,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
@@ -122,8 +122,8 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_fake_hardware:=",
-            use_fake_hardware,
+            "use_mock_hardware:=",
+            use_mock_hardware,
             " ",
             "mock_sensor_commands:=",
             mock_sensor_commands,