Currently, the hardware plugin in both WalliiArmV3.urdf and WalliiArmV3.ros2_control.xacro need to be changed from fake hardware to real hardware every time we want to run rviz or gazebo. It would be great if there was a launch parameter that we can set on launch to use real or fake hardware for any launch files involving our arm (simulation.launch.py, demo.launch.py, arm_controls.launch.py).
Description
Currently, the hardware plugin in both WalliiArmV3.urdf and WalliiArmV3.ros2_control.xacro need to be changed from fake hardware to real hardware every time we want to run rviz or gazebo. It would be great if there was a launch parameter that we can set on launch to use real or fake hardware for any launch files involving our arm (simulation.launch.py, demo.launch.py, arm_controls.launch.py).