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Update for new DHI, mock_components #354

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b630d41
feat: update omy_hat GPIO configuration to multiple xacro files
Woojin-Crive Nov 13, 2025
ab4ce13
refactor: rename fake hardware and sensor command arguments to mock i…
Woojin-Crive Nov 13, 2025
6a61bcc
refactor: remove unused transmission and gripper parameters from open…
yun-goon Nov 13, 2025
a1b738e
chore: bump package versions to 4.1.1 and update changelogs for all m…
yun-goon Nov 13, 2025
53a641d
chore: update docker-compose configuration to improve resource sharin…
Woojin-Crive Nov 13, 2025
92cc48d
chore: update CHANGELOG to reflect docker-compose.yml changes for IPC…
Woojin-Crive Nov 13, 2025
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20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omx_f.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'port_name',
Expand Down Expand Up @@ -82,8 +82,8 @@ def generate_launch_description():
start_rviz = LaunchConfiguration('start_rviz')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
port_name = LaunchConfiguration('port_name')
init_position = LaunchConfiguration('init_position')
ros2_control_type = LaunchConfiguration('ros2_control_type')
Expand All @@ -106,11 +106,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'port_name:=',
port_name,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omx_f_follower_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'init_position',
Expand All @@ -77,8 +77,8 @@ def generate_launch_description():
start_rviz = LaunchConfiguration('start_rviz')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
init_position = LaunchConfiguration('init_position')
ros2_control_type = LaunchConfiguration('ros2_control_type')
port_name = LaunchConfiguration('port_name')
Expand All @@ -100,11 +100,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'ros2_control_type:=',
ros2_control_type,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omx_l_leader_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,14 +46,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'port_name',
Expand All @@ -70,8 +70,8 @@ def generate_launch_description():
# Launch configurations
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
port_name = LaunchConfiguration('port_name')
ros2_control_type = LaunchConfiguration('ros2_control_type')

Expand All @@ -92,11 +92,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'port_name:=',
port_name,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_3m.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'init_position',
Expand All @@ -77,8 +77,8 @@ def generate_launch_description():
start_rviz = LaunchConfiguration('start_rviz')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
init_position = LaunchConfiguration('init_position')
ros2_control_type = LaunchConfiguration('ros2_control_type')
init_position_file = LaunchConfiguration('init_position_file')
Expand All @@ -100,11 +100,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'ros2_control_type:=',
ros2_control_type,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_f3m.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'init_position',
Expand All @@ -77,8 +77,8 @@ def generate_launch_description():
start_rviz = LaunchConfiguration('start_rviz')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
init_position = LaunchConfiguration('init_position')
ros2_control_type = LaunchConfiguration('ros2_control_type')
init_position_file = LaunchConfiguration('init_position_file')
Expand All @@ -100,11 +100,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'ros2_control_type:=',
ros2_control_type,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_f3m_follower_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'init_position',
Expand All @@ -77,8 +77,8 @@ def generate_launch_description():
start_rviz = LaunchConfiguration('start_rviz')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
init_position = LaunchConfiguration('init_position')
ros2_control_type = LaunchConfiguration('ros2_control_type')
init_position_file = LaunchConfiguration('init_position_file')
Expand All @@ -100,11 +100,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'ros2_control_type:=',
ros2_control_type,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_f3m_leader_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,14 +43,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'ros2_control_type',
Expand All @@ -62,8 +62,8 @@ def generate_launch_description():
# Launch configurations
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
ros2_control_type = LaunchConfiguration('ros2_control_type')

# Generate URDF file using xacro
Expand All @@ -83,11 +83,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'ros2_control_type:=',
ros2_control_type,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_l100_follower_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,14 @@ def generate_launch_description():
description='Start robot in Gazebo simulation.',
),
DeclareLaunchArgument(
'use_fake_hardware',
'use_mock_hardware',
default_value='false',
description='Use fake hardware mirroring command.',
description='Use mock hardware mirroring command.',
),
DeclareLaunchArgument(
'fake_sensor_commands',
'mock_sensor_commands',
default_value='false',
description='Enable fake sensor commands.',
description='Enable mock sensor commands.',
),
DeclareLaunchArgument(
'port_name',
Expand Down Expand Up @@ -82,8 +82,8 @@ def generate_launch_description():
start_rviz = LaunchConfiguration('start_rviz')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
port_name = LaunchConfiguration('port_name')
init_position = LaunchConfiguration('init_position')
ros2_control_type = LaunchConfiguration('ros2_control_type')
Expand All @@ -106,11 +106,11 @@ def generate_launch_description():
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
'use_mock_hardware:=',
use_mock_hardware,
' ',
'fake_sensor_commands:=',
fake_sensor_commands,
'mock_sensor_commands:=',
mock_sensor_commands,
' ',
'port_name:=',
port_name,
Expand Down
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