ROS 2 Gazebo対応 (#5)

* use_gazeboオプション追加 * 古いGazeboの記述を削除 * Gazeboのマテリアルを設定 * use_gazeboオプション追加 * use_gazeboオプションを確認するCIを追加
rt-net · Oct 16, 2023 · e8e16dc · e8e16dc
1 parent ee688c1
commit e8e16dc
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Showing 10 changed files with 159 additions and 294 deletions.
diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py
@@ -13,9 +13,11 @@ def __init__(self):
             get_package_share_directory('sciurus17_description'),
             'urdf',
             'sciurus17.urdf.xacro')
+        self.use_gazebo = 'false'
 
     def load(self):
         return Command([
                 'xacro ',
-                self.robot_description_path
+                self.robot_description_path,
+                ' use_gazebo:=', self.use_gazebo
                 ])
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
@@ -25,3 +25,10 @@ def test_change_description_path():
     with pytest.raises(Exception) as e:
         exec_load(rdl)
     assert e.value
+
+
+def test_use_gazebo():
+    # use_gazeboが変更され、xacroにgazeboタグがセットされることを期待
+    rdl = RobotDescriptionLoader()
+    rdl.use_gazebo = 'true'
+    assert '<gazebo' in exec_load(rdl)
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
@@ -1,16 +1,26 @@
 <?xml version="1.0"?>
 
-<robot name="sciurus17" xmlns:xacro="http://ros.org/wiki/xacro" >
+<robot
+    name="sciurus17"
+    xmlns:xacro="http://ros.org/wiki/xacro"
+    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_body.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_head.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_arm.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_hand.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_arm.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_hand.xacro"/>
+  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_gazebo.xacro"/>
+
+  <xacro:arg name="use_gazebo" default="false" />
 
   <material name="white">
     <color rgba="0.9 0.9 0.9 1.0"/>
   </material>
+
   <material name="red">
     <color rgba="0.8984375 0.0 0.0703125 1"/>
   </material>
@@ -129,55 +139,6 @@
   <xacro:property name="COLOR_LINK_HAND" value="red"/>
   <xacro:property name="COLOR_LINK_CAMERA" value="white"/>
 
-  <xacro:arg name="use_gazebo_simulation" default="false" />
-  <xacro:arg name="load_trans1" default="false" />
-  <xacro:arg name="load_trans2" default="false" />
-  <xacro:arg name="load_trans3" default="false" />
-
-  <xacro:arg name="use_effort_right_arm" default="false" />
-  <xacro:property name="right_arm_interface" value="position"/>
-  <xacro:if value="$(arg use_effort_right_arm)">
-    <xacro:property name="right_arm_interface" value="effort"/>
-  </xacro:if>
-
-  <xacro:arg name="use_effort_left_wrist" default="false" />
-  <xacro:property name="left_wrist_interface" value="position"/>
-  <xacro:if value="$(arg use_effort_left_wrist)">
-    <xacro:property name="left_wrist_interface" value="effort"/>
-  </xacro:if>
-
-  <xacro:if value="$(arg use_gazebo_simulation)">
-    <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_gazebo.xacro"/>
-
-    <xacro:if value="$(arg load_trans1)">
-      <xacro:default_transmission joint_name="r_arm_joint1" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_arm_joint2" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_arm_joint3" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_arm_joint4" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_arm_joint5" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_arm_joint6" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_arm_joint7" interface="${right_arm_interface}"/>
-      <xacro:default_transmission joint_name="r_hand_joint"/>
-    </xacro:if>
-
-    <xacro:if value="$(arg load_trans2)">
-      <xacro:default_transmission joint_name="l_arm_joint1"/>
-      <xacro:default_transmission joint_name="l_arm_joint2"/>
-      <xacro:default_transmission joint_name="l_arm_joint3"/>
-      <xacro:default_transmission joint_name="l_arm_joint4"/>
-      <xacro:default_transmission joint_name="l_arm_joint5"/>
-      <xacro:default_transmission joint_name="l_arm_joint6"/>
-      <xacro:default_transmission joint_name="l_arm_joint7" interface="${left_wrist_interface}"/>
-      <xacro:default_transmission joint_name="l_hand_joint"/>
-    </xacro:if>
-
-    <xacro:if value="$(arg load_trans3)">
-      <xacro:default_transmission joint_name="waist_yaw_joint"/>
-      <xacro:default_transmission joint_name="neck_yaw_joint"/>
-      <xacro:default_transmission joint_name="neck_pitch_joint"/>
-    </xacro:if>
-  </xacro:if>
-
   <!-- Used for fixing robot 'base_link'  to Gazebo 'world' -->
   <link name="world"/>
 
@@ -198,4 +159,7 @@
 
   <xacro:sciurus17_left_hand/>
 
+  <xacro:if value="$(arg use_gazebo)">
+    <xacro:gazebo_robot_settings/>
+  </xacro:if>
 </robot>
diff --git a/urdf/sciurus17_body.xacro b/urdf/sciurus17_body.xacro
@@ -79,16 +79,6 @@
       </collision>
     </link>
 
-    <gazebo reference="${NAME_LINK_BASE}">
-      <material>Gazebo/White</material>
-    </gazebo>
-    <gazebo reference="${NAME_LINK_BODY}">
-      <material>Gazebo/White</material>
-    </gazebo>
-    <gazebo reference="${NAME_LINK_CHEST_CAMERA}">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
   </xacro:macro>
 
 </robot>