Use mock_hardware and mock_sensor_commands instead of fake

This has been deprecated a while back and was never adapted.

ur_moveit_config/launch/ur_moveit.launch.py

@@ -44,7 +44,7 @@
 def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    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")
@@ -166,8 +166,8 @@ 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 fake hardware
-    change_controllers = context.perform_substitution(use_fake_hardware)
+    # 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
@@ -268,9 +268,9 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "use_mock_hardware",
             default_value="false",
-            description="Indicate whether robot is running with fake hardware mirroring command to its states.",
+            description="Indicate whether robot is running with mock hardware mirroring command to its states.",
         )
     )
     declared_arguments.append(

ur_robot_driver/launch/ur10.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur10",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),

ur_robot_driver/launch/ur10e.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur10e",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),

ur_robot_driver/launch/ur16e.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur16e",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),

ur_robot_driver/launch/ur3.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur3",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),

ur_robot_driver/launch/ur3e.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur3e",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),

ur_robot_driver/launch/ur5.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur5",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),

ur_robot_driver/launch/ur5e.launch.py

@@ -46,17 +46,17 @@ 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(
-            "fake_sensor_commands",
+            "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.",
+            description="Enable mock command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -82,8 +82,8 @@ def generate_launch_description():
 
     # Initialize Arguments
     robot_ip = LaunchConfiguration("robot_ip")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_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": "ur5e",
             "robot_ip": robot_ip,
-            "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
             "initial_joint_controller": initial_joint_controller,
             "activate_joint_controller": activate_joint_controller,
         }.items(),