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tylerjwtylerjw
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Rename fake_components to mock_components (#470)
(cherry picked from commit 215c771) # Conflicts: # doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda.ros2_control.xacro # doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro
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‎doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda.ros2_control.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="panda_arm_ros2_control" params="name initial_positions_file prefix">
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<xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
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<ros2_control name="${prefix}${name}" type="system">
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<hardware>
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<plugin>mock_components/GenericSystem</plugin>
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</hardware>
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<joint name="${prefix}panda_joint1">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_joint2">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_joint3">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_joint4">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_joint5">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_joint6">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_joint7">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['panda_joint7']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>

‎doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="panda_hand_ros2_control" params="name prefix">
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<ros2_control name="${name}" type="system">
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<hardware>
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<plugin>mock_components/GenericSystem</plugin>
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</hardware>
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<joint name="${prefix}panda_finger_joint1">
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<command_interface name="position" />
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${prefix}panda_finger_joint2">
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<param name="mimic">${prefix}panda_finger_joint1</param>
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<param name="multiplier">1</param>
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<command_interface name="position" />
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>

‎moveit2_tutorials.repos

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type: git
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url: https://github.com/ros-planning/srdfdom.git
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version: ros2
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moveit2:
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type: git
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url: https://github.com/ros-planning/moveit2
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version: main
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moveit_resources:
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type: git
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url: https://github.com/ros-planning/moveit_resources
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version: ros2
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ros2_control:
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type: git
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url: https://github.com/ros-controls/ros2_control.git
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version: 2.12.1

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