SetIO service not working with fake hardware

[hellantos]

Release: Humble Using the io_and_status_controller/set_io service blocks with fake hardware. This is slightly annoying when trying to test an application with fake hardware.

Steps to reproduce:

ros2 launch ur_robot_driver ur5e.launch.py use_fake_hardware:=true robot_ip:="xxx.yyy.zzz.vvv" fake_sensor_commands:=true

ros2 service call /io_and_status_controller/set_io ur_msgs/srv/SetIO "{fun: 1, pin: 0, state: 1}"

Things tried Adding fake_gpio_commands to ur_description's ur.ros_control.xacro.

        <xacro:if value="${use_fake_hardware}">
          <plugin>mock_components/GenericSystem</plugin>
          <param name="fake_sensor_commands">${fake_sensor_commands}</param>
          <param name="state_following_offset">0.0</param>
          <param name="fake_gpio_commands">true</param>
        </xacro:if>

This seems to not have an effect, so I suppose this might be an issue with the io_and_status_controller?

[firesurfer]

I fixed this in the PRs for multiarm support. https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/596

[firesurfer]

@fmauch I guess we can close this now. Fix is merged now.