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UniversalRobots / Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots
BSD 3-Clause "New" or "Revised" License
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Mock hardware xacro syntax is deprecated in latest ros2_control #76

Closed sea-bass closed 1 year ago

sea-bass commented 1 year ago

I just tested out the 2023-06-29 ROS Humble snapshot and (surprise!) ros2_control has introduced another incompatibility with mock hardware, it seems.

[ros2_control_node-2] [INFO] [1689026791.796165788] [resource_manager]: Loading hardware 'ur5e' 
[ros2_control_node-2] [INFO] [1689026791.797834110] [resource_manager]: Initialize hardware 'ur5e' 
[ros2_control_node-2] [WARN] [1689026791.797878390] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-2] [WARN] [1689026791.797894218] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: 
[ros2_control_node-2] <state_interface name="velocity"> 
[ros2_control_node-2]   <param name="initial_value">0.0</param> 
[ros2_control_node-2] </state_interface>

Tracking down the changelist, I suspect it has to do with https://github.com/ros-controls/ros2_control/pull/1051