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mock componentsに対応します #16

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merged 11 commits into from
Nov 25, 2024
Merged

mock componentsに対応します #16

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f5b0374
add dependency for jazzy
chama1176 Jul 8, 2024
1566ac6
display.launchの動作確認とCIが通るようにフォーマット修正
chama1176 Jul 8, 2024
b9329bd
gz-sim対応
chama1176 Jul 9, 2024
27f0d43
プランニングできるように可動範囲を微調整
chama1176 Jul 9, 2024
4e6fb94
センサ周りのgz移行もれ
chama1176 Jul 10, 2024
b17d095
doc, ciをJazzy対応
chama1176 Jul 17, 2024
24845ae
bug fix
chama1176 Jul 19, 2024
cfdf254
手首の可動範囲を広げる
chama1176 Jul 19, 2024
f6dad1e
add mock components support
chama1176 Jul 26, 2024
8e26dec
Merge remote-tracking branch 'origin/ros2' into feature/mock-components
chama1176 Nov 25, 2024
6b96fab
Update test/test_robot_description_loader.py
chama1176 Nov 25, 2024
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2 changes: 2 additions & 0 deletions sciurus17_description/robot_description_loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = ''

Expand All @@ -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
])
9 changes: 9 additions & 0 deletions test/test_robot_description_loader.py
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Expand Up @@ -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)
15 changes: 10 additions & 5 deletions urdf/sciurus17.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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="${NAME_JOINT_BODY}">
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2 changes: 2 additions & 0 deletions urdf/sciurus17.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
<xacro:arg name="use_gazebo" default="false" />
<xacro:arg name="use_gazebo_head_camera" default="false" />
<xacro:arg name="use_gazebo_chest_camera" default="false" />
<xacro:arg name="use_mock_components" default="false" />
<xacro:arg name="port_name" default="/dev/sciurus17spine" />
<xacro:arg name="baudrate" default="3000000" />
<xacro:arg name="timeout_seconds" default="1.0" />
Expand All @@ -28,6 +29,7 @@
<xacro:arg name="gz_control_config_file_path" default="" />
<xacro:property name="USE_GAZEBO_HEAD_CAMERA" value="$(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)"/>
Expand Down