deploy: e26dbcc

_sources/doc/ur_robot_driver/ur_robot_driver/doc/usage/simulation.rst.txt

@@ -43,3 +43,11 @@ environment for testing of "piping" of hardware and controllers, as well as test
 descriptions. For more details see `ros2_control documentation
 <https://control.ros.org/rolling/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html>`_
 for more details.
+
+.. note::
+   Some driver functionalities currently don't work with mock hardware:
+
+   * The TCP pose broadcaster does not work.
+   * The passthrough trajectory controller does not function when calling the follow joint trajectory action.
+   * The force mode controller also does not respond when trying to start force mode.
+   * The GPIO controller cannot verify that it has changed the state of an I/O pin, so it will report a failure when trying to set an I/O pin.

doc/ur_robot_driver/ur_robot_driver/doc/usage/simulation.html

@@ -132,6 +132,16 @@ <h2>Mock hardware<a class="headerlink" href="#mock-hardware" title="Link to this
 environment for testing of “piping” of hardware and controllers, as well as testing robot’s
 descriptions. For more details see <a class="reference external" href="https://control.ros.org/rolling/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html">ros2_control documentation</a>
 for more details.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Some driver functionalities currently don’t work with mock hardware:</p>
+<ul class="simple">
+<li><p>The TCP pose broadcaster does not work.</p></li>
+<li><p>The passthrough trajectory controller does not function when calling the follow joint trajectory action.</p></li>
+<li><p>The force mode controller also does not respond when trying to start force mode.</p></li>
+<li><p>The GPIO controller cannot verify that it has changed the state of an I/O pin, so it will report a failure when trying to set an I/O pin.</p></li>
+</ul>
+</div>
 </section>
 </section>