Clean up test description generators

Author: URJala

ur_robot_driver/test/test_common.py

@@ -376,7 +376,6 @@ 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")
@@ -390,8 +389,8 @@ def generate_mock_hardware_test_description(
         "headless_mode": "true",
         "launch_dashboard_client": "true",
         "start_joint_controller": "false",
-        "use_mock_hardware": use_mock_hardware,
-        "mock_sensor_commands": use_mock_hardware,
+        "use_mock_hardware": "true",
+        "mock_sensor_commands": "true",
     }
     if tf_prefix:
         launch_arguments["tf_prefix"] = tf_prefix
@@ -412,7 +411,6 @@ def generate_driver_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")
 
@@ -425,8 +423,6 @@ def generate_driver_test_description(
         "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

ur_robot_driver/test/test_mock_hardware.py

@@ -56,11 +56,9 @@
 
 
 @pytest.mark.launch_test
-@launch_testing.parametrize("tf_prefix, use_mock_hardware", [("", "true"), ("my_ur_", "true")])
-def generate_test_description(tf_prefix, use_mock_hardware):
-    return generate_mock_hardware_test_description(
-        tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware
-    )
+@launch_testing.parametrize("tf_prefix", [(""), ("my_ur_")])
+def generate_test_description(tf_prefix):
+    return generate_mock_hardware_test_description(tf_prefix=tf_prefix)
 
 
 class RobotDriverTest(unittest.TestCase):
@@ -70,7 +68,6 @@ def setUpClass(cls, use_mock_hardware):
         rclpy.init()
         cls.node = Node("mock_hardware_test")
         time.sleep(1)
-        cls.mock_hardware = use_mock_hardware == "true"
         cls.init_robot(cls)
 
     @classmethod