ROS 2 Jazzyに対応 (#14)

* add dependency for jazzy * display.launchの動作確認とCIが通るようにフォーマット修正 * gz-sim対応 * プランニングできるように可動範囲を微調整 * センサ周りのgz移行もれ * doc, ciをJazzy対応 * bug fix * 手首の可動範囲を広げる * fix mimic joint bug * fix typo * change gz_frame_id to frame_id
rt-net · Nov 20, 2024 · 2d37b80 · 2d37b80
1 parent 2bfba6b
commit 2d37b80
Show file tree

Hide file tree

Showing 10 changed files with 93 additions and 89 deletions.
diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -14,7 +14,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4

diff --git a/README.en.md b/README.en.md
@@ -13,6 +13,7 @@ See [rt-net/sciurus17_ros#134](https://github.com/rt-net/sciurus17_ros/issues/13
 ## Supported ROS distributions
 
 - Humble
+- Jazzy
 
 ### ROS 1
 

diff --git a/README.md b/README.md
@@ -13,6 +13,7 @@
 ## サポートするROSディストリビューション
 
 - Humble
+- Jazzy
 
 ### ROS 1
 

diff --git a/launch/display.launch.py b/launch/display.launch.py
@@ -1,9 +1,9 @@
 # Copyright 2023 RT Corporation
 
 from ament_index_python.packages import get_package_share_directory
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 
 
 def generate_launch_description():

diff --git a/package.xml b/package.xml
@@ -13,7 +13,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ign_ros2_control</depend>
+  <depend>gz_ros2_control</depend>
   <depend>joint_state_publisher_gui</depend>
   <depend>launch</depend>
   <depend>robot_state_publisher</depend>

diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
@@ -1,8 +1,8 @@
 # Copyright 2023 RT Corporation
 
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 from launch.launch_context import LaunchContext
 import pytest
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 
 
 def exec_load(loader):
@@ -53,12 +53,12 @@ def test_manipulator_config_file_path():
 
 
 def test_use_gazebo():
-    # use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待
+    # use_gazeboが変更され、xacroにgz_ros2_controlがセットされることを期待
     rdl = RobotDescriptionLoader()
     rdl.use_gazebo = 'true'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
-    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
+    assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
 
 
 def test_use_gazebo_head_camera():

diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -5,7 +5,7 @@
 
     <ros2_control name="sciurus17" type="system">
       <hardware>
-        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${NAME_JOINT_BODY}">
@@ -22,8 +22,8 @@
 
       <joint name="${NAME_JOINT_NECK_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -34,8 +34,8 @@
 
       <joint name="${NAME_JOINT_NECK_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -46,8 +46,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -58,8 +58,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">-1.5707</param>
@@ -70,8 +70,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_3}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -82,8 +82,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_4}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">2.7262</param>
@@ -94,8 +94,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_5}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -106,8 +106,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_6}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">-2.0943</param>
@@ -118,8 +118,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_7}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -130,8 +130,8 @@
 
       <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -143,16 +143,15 @@
       <joint name="${NAME_JOINT_GRIPPER_R_B}">
         <param name="mimic">${NAME_JOINT_GRIPPER_R_A}</param>
         <param name="multiplier">1</param>
-        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
 
       <joint name="${NAME_JOINT_ARM_L_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -163,8 +162,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">1.5707</param>
@@ -175,8 +174,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_3}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -187,8 +186,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_4}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">-2.7262</param>
@@ -199,8 +198,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_5}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -211,8 +210,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_6}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">2.09439</param>
@@ -223,8 +222,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_7}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -235,8 +234,8 @@
 
       <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -248,7 +247,6 @@
       <joint name="${NAME_JOINT_GRIPPER_L_B}">
         <param name="mimic">${NAME_JOINT_GRIPPER_L_A}</param>
         <param name="multiplier">1</param>
-        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
-Original file line number
+Diff line change
@@ Expand Up @@
     ## Supported ROS distributions
     - Humble
+    - Jazzy
     ### ROS 1
@@ Expand Down @@