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Switch to "use_fake_hardware" for UR20 #950

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merged 1 commit into from
Apr 9, 2024
Merged

Switch to "use_fake_hardware" for UR20 #950

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18 changes: 9 additions & 9 deletions ur_robot_driver/launch/ur20.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_mock_hardware",
"use_fake_hardware",
default_value="false",
description="Start robot with mock hardware mirroring command to its states.",
description="Start robot with fake hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"mock_sensor_commands",
"fake_sensor_commands",
default_value="false",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
description="Enable fake command interfaces for sensors used for simple simulations. \
Used only if 'use_fake_hardware' parameter is true.",
)
)
declared_arguments.append(
Expand All @@ -82,8 +82,8 @@ def generate_launch_description():

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

Expand All @@ -92,8 +92,8 @@ def generate_launch_description():
launch_arguments={
"ur_type": "ur20",
"robot_ip": robot_ip,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"use_fake_hardware": use_fake_hardware,
"fake_sensor_commands": fake_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
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