Add missing calculate_dynamics (#1498) (#1511)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

hardware_interface/doc/mock_components_userdoc.rst

@@ -27,26 +27,71 @@ Features:
 Parameters
 ,,,,,,,,,,
 
+A full example including all optional parameters (with default values):
+
+.. code-block:: xml
+
+ <ros2_control name="MockHardwareSystem" type="system">
+ <hardware>
+ <plugin>mock_components/GenericSystem</plugin>
+ <param name="calculate_dynamics">false</param>
+ <param name="custom_interface_with_following_offset"></param>
+ <param name="disable_commands">false</param>
+ <param name="mock_gpio_commands">false</param>
+ <param name="mock_sensor_commands">false</param>
+ <param name="position_state_following_offset">0.0</param>
+ </hardware>
+ <joint name="joint1">
+ <command_interface name="position"/>
+ <command_interface name="velocity"/>
+ <state_interface name="position">
+ <param name="initial_value">3.45</param>
+ </state_interface>
+ <state_interface name="velocity"/>
+ <state_interface name="acceleration"/>
+ </joint>
+ <joint name="joint2">
+ <command_interface name="velocity"/>
+ <command_interface name="acceleration"/>
+ <state_interface name="position">
+ <param name="initial_value">2.78</param>
+ </state_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="acceleration"/>
+ </joint>
+ <gpio name="flange_vacuum">
+ <command_interface name="vacuum"/>
+ <state_interface name="vacuum" data_type="double"/>
+ </gpio>
+ </ros2_control>
+
+See :ref:`example_2 <ros2_control_demos_example_2_userdoc>` for an example using ``calculate_dynamics`` or :ref:`example_10 <ros2_control_demos_example_10_userdoc>` for using in combination with GPIO interfaces.
+
+Component Parameters
+####################
+
+calculate_dynamics (optional; boolean; default: false)
+ Calculation of states from commands by using Euler-forward integration or finite differences.
+
+custom_interface_with_following_offset (optional; string; default: "")
+ Mapping of offsetted commands to a custom interface.
+
 disable_commands (optional; boolean; default: false)
  Disables mirroring commands 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 open loop configuration.
 
+mock_gpio_commands (optional; boolean; default: false)
+ Creates fake command interfaces for faking GPIO states with an external command.
+ Those interfaces are usually used by a :ref:`forward controller <forward_command_controller_userdoc>` to provide access from ROS-world.
+
 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 <forward_command_controller_userdoc>` to provide access from ROS-world.
 
-disable_commands (optional; boolean; default: false)
- Disables mirroring commands 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 open loop configuration.
-
 position_state_following_offset (optional; double; default: 0.0)
- Following offset added to the commanded values when mirrored to states.
-
-
-custom_interface_with_following_offset (optional; string; default: "")
- Mapping of offsetted commands to a custom interface.
+ Following offset added to the commanded values when mirrored to states. Only applied, if ``custom_interface_with_following_offset`` is false.
 
 
 Per-joint Parameters