robot_description_loaderを実装 #42
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display.launch.pyでdescription_loaderを使うように変更お願いします |
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github上でテストを実行したいのでCIファイルを追加してください |
Tiryoh
suggested changes
Sep 20, 2023
Co-authored-by: Daisuke Sato <daisuke.sato@rt-net.jp>
Co-authored-by: Daisuke Sato <daisuke.sato@rt-net.jp>
ShotaAk
suggested changes
Sep 20, 2023
urdf/raspimouse.urdf.xacro
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| <xacro:arg name="use_gazebo" default="false" /> | ||
| <xacro:arg name="use_rgb_camera" default="false" /> | ||
| <xacro:arg name="use_line_sensor" default="false" /> | ||
| <xacro:arg name="use_lidar_urg" default="false" /> | ||
| <xacro:arg name="use_lidar_lds" default="false" /> | ||
| <xacro:arg name="use_lidar_rplidar" default="false" /> | ||
| <xacro:arg name="use_imu" default="false" /> | ||
| <xacro:arg name="gz_control_config_package" default="" /> | ||
| <xacro:arg name="gz_control_config_file_path" default="" /> |
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今回の変更でこれらの引数は使用されていません。
機能追加時に引数を追加してください。
Suggested change
| <xacro:arg name="use_gazebo" default="false" /> | |
| <xacro:arg name="use_rgb_camera" default="false" /> | |
| <xacro:arg name="use_line_sensor" default="false" /> | |
| <xacro:arg name="use_lidar_urg" default="false" /> | |
| <xacro:arg name="use_lidar_lds" default="false" /> | |
| <xacro:arg name="use_lidar_rplidar" default="false" /> | |
| <xacro:arg name="use_imu" default="false" /> | |
| <xacro:arg name="gz_control_config_package" default="" /> | |
| <xacro:arg name="gz_control_config_file_path" default="" /> |
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| self.use_gazebo = 'false' | ||
| self.use_rgb_camera = 'false' | ||
| self.use_line_sensor = 'false' | ||
| self.use_lidar_urg = 'false' | ||
| self.use_lidar_lds = 'false' | ||
| self.use_lidar_rplidar = 'false' | ||
| self.use_imu = 'false' | ||
| self.gz_control_config_package = '' | ||
| self.gz_control_config_file_path = '' |
| get_package_share_directory('raspimouse_description'), | ||
| 'urdf', | ||
| 'raspimouse.urdf.xacro') | ||
| self.use_gazebo = 'false' |
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display.launch.pyでも使用されている引数、lidarとlidar_frameに対応してください。
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引数、lidarとlidar_frameのテストを追加してください。
引数lidarについては、"none", "urg", "lds", or "rplidar" が正しく反映されることを検証してください
ShotaAk
approved these changes
Sep 22, 2023
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What does this implement/fix?
robot_description_loaderを実装しました。
Does this close any currently open issues?
しません。
How has this been tested?
pytestを実行してテストが通ることを確認しました。
Any other comments?
colcon testが通るように空行を削除した箇所があります。Checklists