remove actuator_slowdown

Author: mamueluth

mock_hardware/include/mock_components/generic_system.hpp

@@ -99,8 +99,6 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
   std::vector<std::vector<double>> gpio_commands_;
   std::vector<std::vector<double>> gpio_states_;
 
-  double actuator_slowdown_;
-
   // used for the Transmission pass through.
   // read: actuator_interface.state_->Transmission->joint_interface.state_
   // write: joint_interface.command_->Transmission->actuator_interface.command_

mock_hardware/src/generic_system.cpp

@@ -243,8 +243,6 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
     initialize_storage_vectors(gpio_commands_, gpio_states_, gpio_interfaces_, info_.gpios);
   }
 
-  actuator_slowdown_ = std::stod(info_.hardware_parameters["actuator_slowdown"]);
-
   const auto num_joints = std::accumulate(
     info_.transmissions.begin(), info_.transmissions.end(), 0ul,
     [](const auto & acc, const auto & trans_info) { return acc + trans_info.joints.size(); });
@@ -792,14 +790,12 @@ return_type GenericSystem::write(const rclcpp::Time & /*time*/, const rclcpp::Du
     [](auto & actuator_interface)
     { actuator_interface.command_ = actuator_interface.transmission_passthrough_; });
 
-  // simulate motor motion
   std::for_each(
     actuator_interfaces_.begin(), actuator_interfaces_.end(),
     [&](auto & actuator_interface)
     {
       actuator_interface.state_ =
-        actuator_interface.state_ +
-        (actuator_interface.command_ - actuator_interface.state_) / actuator_slowdown_;
+        actuator_interface.state_ + (actuator_interface.command_ - actuator_interface.state_);
     });
 
   return hardware_interface::return_type::OK;