ur_moveit_config: Do not change default controller when using fake hardware (#1237)

Author: urfeex

ur_moveit_config/launch/ur_moveit.launch.py

@@ -43,15 +43,13 @@
     FindExecutable,
     LaunchConfiguration,
     PathJoinSubstitution,
-    OrSubstitution,
 )
 
 
 def launch_setup(context, *args, **kwargs):
 
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     safety_limits = LaunchConfiguration("safety_limits")
     safety_pos_margin = LaunchConfiguration("safety_pos_margin")
     safety_k_position = LaunchConfiguration("safety_k_position")
@@ -179,9 +177,7 @@ def launch_setup(context, *args, **kwargs):
     # Trajectory Execution Configuration
     controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
     # the scaled_joint_trajectory_controller does not work on fake hardware
-    change_controllers = context.perform_substitution(
-        OrSubstitution(use_fake_hardware, use_sim_time)
-    )
+    change_controllers = context.perform_substitution(use_sim_time)
     if change_controllers == "true":
         controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
         controllers_yaml["joint_trajectory_controller"]["default"] = True
@@ -287,13 +283,6 @@ def generate_launch_description():
             choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "use_fake_hardware",
-            default_value="false",
-            description="Indicate whether robot is running with fake hardware mirroring command to its states.",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",