From 3914a2c49a895e431d7ec7ceb2678abfde7763e6 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Wed, 31 May 2023 20:40:48 +0200 Subject: [PATCH] Update mock_components_userdoc.rst --- hardware_interface/doc/mock_components_userdoc.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst index 3fbc1c4a14..0b20a01302 100644 --- a/hardware_interface/doc/mock_components_userdoc.rst +++ b/hardware_interface/doc/mock_components_userdoc.rst @@ -27,6 +27,11 @@ Features: Parameters ,,,,,,,,,, +disable_commands (optional; boolean; default: false) + Disables mirroring command to states. + This option is helpful to simulate an erroneous connection to the hardware when nothing breaks, but suddenly there is no feedback from a hardware interface. + Or it can help you to test your setup when the hardware is running without feedback, i.e., in the open loop. + mock_sensor_commands (optional; boolean; default: false) Creates fake command interfaces for faking sensor measurements with an external command. Those interfaces are usually used by a :ref:`forward controller ` to provide access from ROS-world.