diff --git a/launch/display.rviz b/launch/display.rviz
index ee3b3f3..98a4341 100644
--- a/launch/display.rviz
+++ b/launch/display.rviz
@@ -3,11 +3,9 @@ Panels:
Help Height: 78
Name: Displays
Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
+ Expanded: ~
Splitter Ratio: 0.5
- Tree Height: 542
+ Tree Height: 707
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -194,10 +192,6 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- world:
- Alpha: 1
- Show Axes: false
- Show Trail: false
Mass Properties:
Inertia: false
Mass: false
@@ -265,49 +259,46 @@ Visualization Manager:
Value: true
r_link7:
Value: true
- world:
- Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
- world:
- base_link:
- body_link:
- chest_camera_link:
- {}
- l_link1:
- l_link2:
- l_link3:
- l_link4:
- l_link5:
- l_link5_armarker:
- {}
- l_link6:
- l_link7:
- l_gripperA_link:
- {}
- l_gripperB_link:
- {}
- neck_yaw_link:
- neck_pitch_link:
- head_camera_link:
- {}
- r_link1:
- r_link2:
- r_link3:
- r_link4:
- r_link5:
- r_link5_armarker:
- {}
- r_link6:
- r_link7:
- r_gripperA_link:
- {}
- r_gripperB_link:
- {}
+ base_link:
+ body_link:
+ chest_camera_link:
+ {}
+ l_link1:
+ l_link2:
+ l_link3:
+ l_link4:
+ l_link5:
+ l_link5_armarker:
+ {}
+ l_link6:
+ l_link7:
+ l_gripperA_link:
+ {}
+ l_gripperB_link:
+ {}
+ neck_yaw_link:
+ neck_pitch_link:
+ head_camera_link:
+ {}
+ r_link1:
+ r_link2:
+ r_link3:
+ r_link4:
+ r_link5:
+ r_link5_armarker:
+ {}
+ r_link6:
+ r_link7:
+ r_gripperA_link:
+ {}
+ r_gripperB_link:
+ {}
Update Interval: 0
Value: true
Enabled: true
@@ -379,10 +370,10 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
- Height: 846
+ Height: 1011
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000351000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000351000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006501000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cd0000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -391,6 +382,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1200
- X: 237
- Y: 81
+ Width: 1854
+ X: 66
+ Y: 32
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
index e3a2237..b4eb03e 100644
--- a/test/test_robot_description_loader.py
+++ b/test/test_robot_description_loader.py
@@ -52,7 +52,7 @@ def test_manipulator_config_file_path():
assert '"manipulator_config_file_path">test/config/file/path' in exec_load(rdl)
-def test_use_gazebo():
+def test_use_gazebo_ros2_control():
# 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'
@@ -61,6 +61,24 @@ def test_use_gazebo():
assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
+def test_use_gazebo_true_world_link():
+ # use_gazeboが変更され、xacroにworldリンク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 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
+ assert 'link name="world"' in exec_load(rdl)
+
+
+def test_use_gazebo_false_world_link():
+ # use_gazebo=falseではworldリンクがセットされないことを期待
+ rdl = RobotDescriptionLoader()
+ rdl.use_gazebo = 'false'
+ xml = exec_load(rdl)
+ assert 'link name="world"' not in xml
+
+
def test_use_gazebo_head_camera():
# use_gazebo_head_cameraが変更され、xacroにhead_camera_linkがセットされることを期待
rdl = RobotDescriptionLoader()
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 73945ba..aaf1d40 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -173,13 +173,15 @@
-
-
+
+
+
-
-
-
-
+
+
+
+
+