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Update for new DHI, mock_components #354

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@Woojin-Crive Woojin-Crive commented Nov 13, 2025

Update for new DHI, mock_components

@Woojin-Crive Woojin-Crive self-assigned this Nov 13, 2025
Copilot AI review requested due to automatic review settings November 13, 2025 06:34
@Woojin-Crive Woojin-Crive added the enhancement New feature or request label Nov 13, 2025
@github-project-automation github-project-automation bot moved this to 🌱 Todo in Platform Nov 13, 2025
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Summary of Changes

Hello @Woojin-Crive, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request primarily focuses on updating the terminology used for hardware abstraction, renaming 'fake' components to 'mock' components across the open_manipulator_bringup and open_manipulator_description packages. It also includes a minor structural adjustment in the ROS2 control configurations for specific robot models, reordering a GPIO definition for consistency or clarity.

Highlights

  • Terminology Update: The terms 'fake_hardware' and 'fake_sensor_commands' have been consistently renamed to 'mock_hardware' and 'mock_sensor_commands' across all relevant launch files, ROS2 control xacro files, and URDF xacro files. This update reflects a change in terminology for hardware abstraction components.
  • Hardware Interface Plugin Update: The hardware interface plugin used for mocked components has been updated from fake_components/GenericSystem to mock_components/GenericSystem in the ROS2 control xacro files, aligning with the new naming convention.
  • ROS2 Control Configuration Reordering: In several omy_3m and omy_f3m ROS2 control xacro files, the gpio element for 'omy_hat' has been reordered. It was moved from the end of the ros2_control block to a position before the dxl1 gpio element, potentially improving logical grouping or processing order.
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Copilot finished reviewing on behalf of Woojin-Crive November 13, 2025 06:35
Copilot AI reviewed Nov 13, 2025
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Pull Request Overview

This PR updates the codebase to use the new mock_components and mock_hardware naming convention, replacing the deprecated fake_components and fake_hardware terminology throughout the project. This aligns with updated ROS2 control conventions.

Key Changes:

  • Renamed all parameters from use_fake_hardware/fake_sensor_commands to use_mock_hardware/mock_sensor_commands
  • Updated plugin references from fake_components/GenericSystem to mock_components/GenericSystem
  • Updated user-facing descriptions in launch files to reflect the new terminology

Reviewed Changes

Copilot reviewed 33 out of 33 changed files in this pull request and generated no comments.

Show a summary per file
File Description
open_manipulator_x.urdf.xacro Updated xacro parameters from fake to mock naming
omy_l100.urdf.xacro Updated xacro parameters from fake to mock naming
omy_f3m.urdf.xacro Updated xacro parameters from fake to mock naming
omy_3m.urdf.xacro Updated xacro parameters from fake to mock naming
omx_l.urdf.xacro Updated xacro parameters from fake to mock naming
omx_f.urdf.xacro Updated xacro parameters from fake to mock naming
open_manipulator_x_position.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
omy_l100_position.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
omy_l100_current.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
omy_f3m_smooth.ros2_control.xacro Updated macro parameters, plugin name, and reordered GPIO blocks
omy_f3m_position.ros2_control.xacro Updated macro parameters, plugin name, and reordered GPIO blocks
omy_f3m_end_unit.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
omy_f3m_current.ros2_control.xacro Updated macro parameters, plugin name, and reordered GPIO blocks
omy_3m_position.ros2_control.xacro Updated macro parameters, plugin name, and reordered GPIO blocks
omy_3m_end_unit.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
omx_l.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
omx_f.ros2_control.xacro Updated macro parameters and plugin name from fake_components to mock_components
open_manipulator_x.launch.py (description) Updated parameter name from use_fake_hardware to use_mock_hardware
omy_l100.launch.py (description) Updated parameter name from use_fake_hardware to use_mock_hardware
omy_f3m.launch.py (description) Updated parameter name from use_fake_hardware to use_mock_hardware
omy_3m.launch.py (description) Updated parameter name from use_fake_hardware to use_mock_hardware
omx_l.launch.py (description) Updated parameter name from use_fake_hardware to use_mock_hardware
omx_f.launch.py (description) Updated parameter name from use_fake_hardware to use_mock_hardware
open_manipulator_x.launch.py (bringup) Updated launch arguments, descriptions, and parameter references to mock naming
omy_l100_leader_ai.launch.py Updated launch arguments, descriptions, and parameter references to mock naming
omy_l100_follower_ai.launch.py Updated launch arguments, descriptions, and parameter references to mock naming
omy_f3m_leader_ai.launch.py Updated launch arguments, descriptions, and parameter references to mock naming
omy_f3m_follower_ai.launch.py Updated launch arguments, descriptions, and parameter references to mock naming
omy_f3m.launch.py (bringup) Updated launch arguments, descriptions, and parameter references to mock naming
omy_3m.launch.py (bringup) Updated launch arguments, descriptions, and parameter references to mock naming
omx_l_leader_ai.launch.py Updated launch arguments, descriptions, and parameter references to mock naming
omx_f_follower_ai.launch.py Updated launch arguments, descriptions, and parameter references to mock naming
omx_f.launch.py (bringup) Updated launch arguments, descriptions, and parameter references to mock naming

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Code Review

This pull request primarily refactors the codebase by replacing fake with mock for hardware components, which is a good change for clarity and standardization. This includes renaming launch arguments like use_fake_hardware to use_mock_hardware and updating plugin paths from fake_components to mock_components. The changes are applied consistently across all modified launch and xacro files. Additionally, some xacro files were refactored to improve the organization of gpio blocks. The overall changes improve code quality and maintainability. I have reviewed the changes and found no issues.

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@sunghowoo sunghowoo Awaiting requested review from sunghowoo

@yun-goon yun-goon Awaiting requested review from yun-goon

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