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GenericSystem: Add missing calculate_dynamics to docs #1498

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Apr 29, 2024
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GenericSystem: Add missing calculate_dynamics to docs #1498

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67 changes: 57 additions & 10 deletions hardware_interface/doc/mock_components_userdoc.rst
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Expand Up @@ -28,27 +28,74 @@ 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_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.

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.

position_state_following_offset (optional; double; default: 0.0)
Following offset added to the commanded values when mirrored to states.
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.

custom_interface_with_following_offset (optional; string; default: "")
Mapping of offsetted commands to a custom interface.
position_state_following_offset (optional; double; default: 0.0)
Following offset added to the commanded values when mirrored to states. Only applied, if ``custom_interface_with_following_offset`` is false.

Per-interface Parameters
,,,,,,,,,,,,,,,,,,,,,,,,
Per-Interface Parameters
########################

initial_value (optional; double)
Initial value of certain state interface directly after startup. Example:
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