Revert "Switch fake to mock for ros2_control updates (#77)" #78
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)" This reverts commit aedef36. Since it was only a deprecation warning, there is no need to break API on humble.
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Agreed on not introducing breaking APIs to Humble. I was on Humble and these changes resolved a segfault about missing state interfaces for me... but maybe there was something else going on. As long as reverting these changes keeps mock hardware examples working on Humble in you guys' testing, that should be OK and I will keep chasing the problem on my side. |
| <plugin>mock_components/GenericSystem</plugin> | ||
| <param name="mock_sensor_commands">${mock_sensor_commands}</param> | ||
| <param name="fake_sensor_commands">${fake_sensor_commands}</param> |
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I actually think this line is where ros2_control did introduce an incompatibility in Humble. See https://github.com/ros-controls/ros2_control/pull/1051/files#diff-1d9f9ba7c75ec81444e8ed7da3e5ac7a9fac2c515cb752ccd45d7a520dff97b4R62
You can keep your own xacro argument named as fake_sensor_commands, but you may need to do something like:
| <param name="fake_sensor_commands">${fake_sensor_commands}</param> | |
| <param name="mock_sensor_commands">${fake_sensor_commands}</param> |
... but please test it!
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Ah, actually I see now that they do still check fake_sensor_commands... so my segfault must be something else. Bummer. Sorry about that.
This reverts commit aedef36 that was done based on #76
Since it was only a deprecation warning, there is no need to break API on humble.
@sea-bass just to clarify: On humble using fake_hw should not break anything, but it should only raise a deprecation warning. So, since switching to
mockin our description files would actually introduce an unnecessary API incompatibility, hence I'd like to revert this.Edit: Iron should follow that.