gz_sim対応(crane_plus_descriptionパッケージ)

rt-net · Nov 27, 2024 · 9359f4d · 9359f4d
1 parent d0fa64a
commit 9359f4d
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Showing 3 changed files with 4 additions and 29 deletions.
diff --git a/crane_plus_description/test/test_robot_description_loader.py b/crane_plus_description/test/test_robot_description_loader.py
@@ -55,16 +55,6 @@ def test_use_gazebo():
     assert 'gazebo_ros2_control/GazeboSystem' in exec_load(rdl)
 
 
-def test_use_ignition():
-    # use_gazeboとuse_ignitionが変更され、xacroにign_ros2_controlがセットされることを期待
-    rdl = RobotDescriptionLoader()
-    rdl.use_gazebo = 'true'
-    rdl.use_ignition = 'true'
-    rdl.gz_control_config_package = 'crane_plus_description'
-    rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml'
-    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
-
-
 def test_use_camera():
     # use_cameraが変更されて、xacroにcameraがセットされることを期待
     rdl = RobotDescriptionLoader()

diff --git a/crane_plus_description/urdf/crane_plus.gazebo.xacro b/crane_plus_description/urdf/crane_plus.gazebo.xacro
@@ -32,18 +32,9 @@
             ">
 
     <gazebo>
-      <xacro:if value="${use_ignition}">
-        <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-          <parameters>$(find ${config_package})/${config_file_path}</parameters>
-        </plugin>
-      </xacro:if>
-
-      <xacro:unless value="${use_ignition}">
-        <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-          <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
-          <parameters>$(find ${config_package})/${config_file_path}</parameters>
-        </plugin>
-      </xacro:unless>
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+      <parameters>$(find ${config_package})/${config_file_path}</parameters>
+      </plugin>
     </gazebo>
 
     <gazebo reference="${name_link_base}">

diff --git a/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro b/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro
@@ -23,13 +23,7 @@
 
     <ros2_control name="${name}" type="system">
       <hardware>
-        <xacro:if value="${use_ignition}">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
-        </xacro:if>
-
-        <xacro:unless value="${use_ignition}">
-          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-        </xacro:unless>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${name_joint_1}">