From 10a6f64bedf35ae8f934477d49b78c96d752d658 Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Thu, 8 Aug 2024 09:44:52 +0200
Subject: [PATCH] Added dynamics tag when using mock_components/GenericSystem
 (#1075)

---
 ur_robot_driver/urdf/ur.ros2_control.xacro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro
index 77e0c22cd..580107df6 100644
--- a/ur_robot_driver/urdf/ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/ur.ros2_control.xacro
@@ -42,6 +42,7 @@
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
+          <param name="calculate_dynamics">true</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
           <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>