Add mock hardware test description

Author: URJala

ur_robot_driver/test/test_common.py

@@ -366,6 +366,42 @@ def generate_dashboard_test_description():
     )
 
 
+def generate_mock_hardware_test_description(
+    tf_prefix="",
+    initial_joint_controller="scaled_joint_trajectory_controller",
+    controller_spawner_timeout=TIMEOUT_WAIT_SERVICE_INITIAL,
+    use_mock_hardware="false",
+):
+
+    ur_type = LaunchConfiguration("ur_type")
+
+    launch_arguments = {
+        "robot_ip": "0.0.0.0",
+        "ur_type": ur_type,
+        "launch_rviz": "false",
+        "controller_spawner_timeout": str(controller_spawner_timeout),
+        "initial_joint_controller": initial_joint_controller,
+        "headless_mode": "true",
+        "launch_dashboard_client": "true",
+        "start_joint_controller": "false",
+        "use_mock_hardware": use_mock_hardware,
+        "mock_sensor_commands": use_mock_hardware,
+    }
+    if tf_prefix:
+        launch_arguments["tf_prefix"] = tf_prefix
+
+    robot_driver = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
+            )
+        ),
+        launch_arguments=launch_arguments.items(),
+    )
+
+    return LaunchDescription(_declare_launch_arguments() + [ReadyToTest(), robot_driver])
+
+
 def generate_driver_test_description(
     tf_prefix="",
     initial_joint_controller="scaled_joint_trajectory_controller",