Fix position_state_following_offset and description

ros-controls · Sep 7, 2023 · 258ba16 · 258ba16
1 parent 2a3196a
commit 258ba16
Show file tree

Hide file tree

Showing 8 changed files with 8 additions and 8 deletions.
diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -45,7 +45,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
+            description="Enable mocked command interfaces for sensors used for simple simulations. \
             Used only if 'use_mock_hardware' parameter is true.",
         )
     )

diff --git a/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro b/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro
@@ -9,7 +9,7 @@
         <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
+          <param name="position_state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_3/RRBotSystemMultiInterfaceHardware</plugin>

diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -45,7 +45,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
+            description="Enable mocked command interfaces for sensors used for simple simulations. \
             Used only if 'use_mock_hardware' parameter is true.",
         )
     )

diff --git a/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro b/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro
@@ -9,7 +9,7 @@
         <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
+          <param name="position_state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_4/RRBotSystemWithSensorHardware</plugin>

diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -45,7 +45,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
+            description="Enable mocked command interfaces for sensors used for simple simulations. \
             Used only if 'use_mock_hardware' parameter is true.",
         )
     )

diff --git a/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro b/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro
@@ -8,7 +8,7 @@
         <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
+          <param name="position_state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_5/ExternalRRBotForceTorqueSensorHardware</plugin>

diff --git a/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro b/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro
@@ -9,7 +9,7 @@
         <xacro:if value="${use_mock_hardware}">
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
+          <param name="position_state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
           <plugin>ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware</plugin>

diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -45,7 +45,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
+            description="Enable mocked command interfaces for sensors used for simple simulations. \
             Used only if 'use_mock_hardware' parameter is true.",
         )
     )