Mock components対応 (#16)

* 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 * add mock components support * Update test/test_robot_description_loader.py Co-authored-by: Kuwamai <[email protected]> --------- Co-authored-by: Kuwamai <[email protected]>
rt-net · Nov 25, 2024 · 9ce1257 · 9ce1257
1 parent 2d37b80
commit 9ce1257
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Showing 4 changed files with 23 additions and 5 deletions.
diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py
@@ -20,6 +20,7 @@ def __init__(self):
         self.use_gazebo = 'false'
         self.use_gazebo_head_camera = 'false'
         self.use_gazebo_chest_camera = 'false'
+        self.use_mock_components = 'false'
         self.gz_control_config_package = ''
         self.gz_control_config_file_path = ''
 
@@ -34,6 +35,7 @@ def load(self):
                 ' use_gazebo:=', self.use_gazebo,
                 ' use_gazebo_head_camera:=', self.use_gazebo_head_camera,
                 ' use_gazebo_chest_camera:=', self.use_gazebo_chest_camera,
+                ' use_mock_components:=', self.use_mock_components,
                 ' gz_control_config_package:=', self.gz_control_config_package,
                 ' gz_control_config_file_path:=', self.gz_control_config_file_path
                 ])
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
@@ -79,3 +79,12 @@ def test_use_gazebo_chest_camera():
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
     assert 'reference="chest_camera_link"' in exec_load(rdl)
+
+
+def test_use_mock_components():
+    # use_mock_componentsが変更され、xacroにmock_componentsがセットされることを期待
+    rdl = RobotDescriptionLoader()
+    rdl.use_mock_components = 'true'
+    rdl.gz_control_config_package = 'sciurus17_description'
+    rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
+    assert 'mock_components/GenericSystem' in exec_load(rdl)
diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
@@ -5,11 +5,16 @@
 
     <ros2_control name="sciurus17" type="system">
       <hardware>
-        <plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
-        <param name="port_name">${PORT_NAME}</param>
-        <param name="baudrate">${BAUDRATE}</param>
-        <param name="timeout_seconds">${TIMEOUT_SECONDS}</param>
-        <param name="manipulator_config_file_path">${MANIPULATOR_CONFIG_FILE_PATH}</param>
+        <xacro:if value="${USE_MOCK_COMPONENTS}">
+          <plugin>mock_components/GenericSystem</plugin>
+        </xacro:if>
+        <xacro:unless value="${USE_MOCK_COMPONENTS}">
+          <plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
+          <param name="port_name">${PORT_NAME}</param>
+          <param name="baudrate">${BAUDRATE}</param>
+          <param name="timeout_seconds">${TIMEOUT_SECONDS}</param>
+          <param name="manipulator_config_file_path">${MANIPULATOR_CONFIG_FILE_PATH}</param>
+        </xacro:unless>
       </hardware>
 
       <joint name="${NAME_JOINT_BODY}">

diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
@@ -20,6 +20,7 @@
   <xacro:arg name="use_gazebo" default="false" />
   <xacro:arg name="use_gazebo_head_camera" default="false" />
   <xacro:arg name="use_gazebo_chest_camera" default="false" />
+  <xacro:arg name="use_mock_components" default="false" />
   <xacro:arg name="port_name" default="/dev/sciurus17spine" />
   <xacro:arg name="baudrate" default="3000000" />
   <xacro:arg name="timeout_seconds" default="1.0" />
@@ -28,6 +29,7 @@
   <xacro:arg name="gz_control_config_file_path" default="" />
   <xacro:property name="USE_GAZEBO_HEAD_CAMERA" value="$(arg use_gazebo_head_camera)"/>
   <xacro:property name="USE_GAZEBO_CHEST_CAMERA" value="$(arg use_gazebo_chest_camera)"/>
+  <xacro:property name="USE_MOCK_COMPONENTS" value="$(arg use_mock_components)"/>
   <xacro:property name="PORT_NAME" value="$(arg port_name)"/>
   <xacro:property name="BAUDRATE" value="$(arg baudrate)"/>
   <xacro:property name="TIMEOUT_SECONDS" value="$(arg timeout_seconds)"/>