robot_description_loaderを実装

.github/workflows/industrial_ci.yml

@@ -0,0 +1,25 @@
+name: industrial_ci
+
+on:
+  push:
+    paths-ignore:
+    - 'docs/**'
+    - '**.md'
+  pull_request:
+    paths-ignore:
+    - 'docs/**'
+    - '**.md'
+  schedule:
+    - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - { ROS_DISTRO: humble, ROS_REPO: ros }
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: "ros-industrial/industrial_ci@master"
+        env: ${{ matrix.env }}

CMakeLists.txt

@@ -24,9 +24,17 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
+ament_python_install_package(${PROJECT_NAME})
+install(PROGRAMS
+    ${PROJECT_NAME}/robot_description_loader.py
+    DESTINATION lib/${PROJECT_NAME})
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(test_robot_description_loader test/test_robot_description_loader.py)
 endif()
 
 ament_package()

CONTRIBUTING.md

@@ -0,0 +1,32 @@
+# Contribution Guide
+
+本リポジトリへのコントリビュート方法について記載しています。
+
+## Issues
+
+リポジトリの品質向上にご協力頂きありがとうございます。
+
+Issueの作成を簡単にするテンプレートを用意しているので活用してください。
+
+## Pull Requests
+
+Pull Requestの作成ありがとうございます。
+提出したPull Request（PR）には次のルールが適用されます。
+
+- PRの内容には本リポジトリのライセンス（[LICENSE](./LICENSE)と[README.md](./README.md)に記載されています）が適用されます
+- PRは`rt-net`のメンバーによるレビューを経てからマージされます
+  - すべてのPRがマージされるわけではなく、希望に添えない場合もありますのでご容赦ください
+- リポジトリにテストが設定されている場合はできるだけテストを通してください
+  - 何かしらの理由（テストに間違いがある場合など）でテストを通さずPRを出す場合はその旨をPRに記載してください
+- マージする際にはPR内の全コミットが1つのコミットに`squash`されます
+  - [コミットをスカッシュしてマージする | GitHub Docs](https://docs.github.com/ja/pull-requests/collaborating-with-pull-requests/incorporating-changes-from-a-pull-request/about-pull-request-merges#squash-and-merge-your-commits)
+- 1つのPRでリクエストする変更はできるだけシンプルにしてください
+  - 異なる内容の変更を含む場合はPRを分割してください
+      - 例えば、複数の機能追加したり、機能追加とリファクタリングを同時にする場合はそれぞれ別々のPRとしてください
+  - squashマージしても履歴を辿りやすくするためです
+
+## LICENSE
+
+Any contribution that you make to this repository will
+be under the MIT license, as dictated by that
+[license](https://opensource.org/licenses/MIT).

launch/display.launch.py

@@ -12,52 +12,73 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
 from ament_index_python.packages import get_package_share_directory
+from raspimouse_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
 from launch_ros.actions import Node
 from launch_ros.actions import PushRosNamespace
-from launch.substitutions import Command
 from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
-    declare_arg_lidar = DeclareLaunchArgument(
-        'lidar',
-        default_value='none',
-        description='Set "none", "urg", "lds", or "rplidar".')
-    declare_arg_lidar_frame = DeclareLaunchArgument(
-        'lidar_frame',
-        default_value='laser',
-        description='Set lidar link name.')
+    declare_use_rgb_camera = DeclareLaunchArgument(
+        'use_rgb_camera',
+        default_value='false',
+        description='Set true to attach the rgb camera model.'
+    )
+    declare_use_line_sensor = DeclareLaunchArgument(
+        'use_line_sensor',
+        default_value='false',
+        description='Set true to attach the line sensor model.'
+    )
+    declare_use_lidar_urg = DeclareLaunchArgument(
+        'use_lidar_urg',
+        default_value='false',
+        description='Set true to attach the URG-04LX-UG01 model.'
+    )
+    declare_use_lidar_lds = DeclareLaunchArgument(
+        'use_lidar_lds',
+        default_value='false',
+        description='Set true to attach the LDS-01 model.'
+    )
+    declare_use_lidar_rplidar = DeclareLaunchArgument(
+        'use_lidar_rplidar',
+        default_value='false',
+        description='Set true to attach the RPLiDAR A1 model.'
+    )
+    declare_use_imu = DeclareLaunchArgument(
+        'use_imu',
+        default_value='false',
+        description='Set true to attach the IMU model.'
+    )
     declare_arg_namespace = DeclareLaunchArgument(
         'namespace',
         default_value='',
-        description='Set namespace for tf tree.')
+        description='Set namespace for tf tree.'
+    )
     declare_arg_use_rviz = DeclareLaunchArgument(
         'use_rviz',
         default_value='true',
-        description='Set "true" to launch rviz.')
+        description='Set "true" to launch rviz.'
+    )
 
-    xacro_file = os.path.join(
-        get_package_share_directory('raspimouse_description'),
-        'urdf',
-        'raspimouse.urdf.xacro')
-    params = {'robot_description': Command(['xacro ', xacro_file,
-                                            ' lidar:=', LaunchConfiguration('lidar'),
-                                            ' lidar_frame:=', LaunchConfiguration('lidar_frame'),
-                                            ]),
-              'frame_prefix': [LaunchConfiguration('namespace'), '/']}
+    description_loader = RobotDescriptionLoader()
+    description_loader.use_rgb_camera = LaunchConfiguration('use_rgb_camera')
+    description_loader.use_line_sensor = LaunchConfiguration('use_line_sensor')
+    description_loader.use_lidar_urg = LaunchConfiguration('use_lidar_urg')
+    description_loader.use_lidar_lds = LaunchConfiguration('use_lidar_lds')
+    description_loader.use_lidar_rplidar = LaunchConfiguration('use_lidar_rplidar')
+    description_loader.use_imu = LaunchConfiguration('use_imu')
 
     push_ns = PushRosNamespace([LaunchConfiguration('namespace')])
 
     rsp = Node(package='robot_state_publisher',
                executable='robot_state_publisher',
                output='both',
-               parameters=[params])
+               parameters=[{'robot_description': description_loader.load()}])
 
     jsp = Node(
         package='joint_state_publisher_gui',
@@ -75,12 +96,16 @@ def generate_launch_description():
                      condition=IfCondition(LaunchConfiguration('use_rviz')))
 
     return LaunchDescription([
-        declare_arg_lidar,
-        declare_arg_lidar_frame,
+        declare_use_rgb_camera,
+        declare_use_line_sensor,
+        declare_use_lidar_urg,
+        declare_use_lidar_lds,
+        declare_use_lidar_rplidar,
+        declare_use_imu,
         declare_arg_namespace,
         declare_arg_use_rviz,
         push_ns,
         rsp,
         jsp,
         rviz_node,
-        ])
+        ])

package.xml

@@ -5,10 +5,12 @@
   <version>1.0.1</version>
   <description>The raspimouse_description package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
-  <author email="daisuke.sato@rt-net.jp">Daisuke Sato</author>
-  <author email="s.aoki@rt-net.jp">Daisuke Sato</author>
 
   <license>MIT</license>
+
+  <author email="daisuke.sato@rt-net.jp">Daisuke Sato</author>
+  <author email="s.aoki@rt-net.jp">Shota Aoki</author>
+  <author email="yusuke.kato@rt-net.jp">Yusuke Kato</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -18,6 +20,7 @@
   <depend>rviz2</depend>
   <depend>urdf</depend>
   <depend>xacro</depend>
+  <depend>launch</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

raspimouse_description/robot_description_loader.py

@@ -0,0 +1,58 @@
+# The MIT License (MIT)
+#
+# Copyright 2023 RT Corporation <support@rt-net.jp>
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of
+# this software and associated documentation files (the "Software"), to deal in
+# the Software without restriction, including without limitation the rights to
+# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+# the Software, and to permit persons to whom the Software is furnished to do so,
+# subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import Command
+
+
+class RobotDescriptionLoader():
+
+    def __init__(self):
+        self.robot_description_path = os.path.join(
+            get_package_share_directory('raspimouse_description'),
+            'urdf',
+            'raspimouse.urdf.xacro')
+        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 = ''
+
+    def load(self):
+        return Command([
+                'xacro ',
+                self.robot_description_path,
+                ' use_gazebo:=', self.use_gazebo,
+                ' use_rgb_camera:=', self.use_rgb_camera,
+                ' use_line_sensor:=', self.use_line_sensor,
+                ' use_lidar_urg:=', self.use_lidar_urg,
+                ' use_lidar_lds:=', self.use_lidar_lds,
+                ' use_lidar_rplidar:=', self.use_lidar_rplidar,
+                ' use_lidar_imu:=', self.use_imu,
+                ' gz_control_config_package:=', self.gz_control_config_package,
+                ' gz_control_config_file_path:=', self.gz_control_config_file_path
+                ])

test/test_robot_description_loader.py

@@ -0,0 +1,46 @@
+# The MIT License (MIT)
+#
+# Copyright 2023 RT Corporation <support@rt-net.jp>
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of
+# this software and associated documentation files (the "Software"), to deal in
+# the Software without restriction, including without limitation the rights to
+# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+# the Software, and to permit persons to whom the Software is furnished to do so,
+# subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+from raspimouse_description.robot_description_loader import RobotDescriptionLoader
+from launch.launch_context import LaunchContext
+import pytest
+
+
+def exec_load(loader):
+    # Command substitutionの実行方法はCommandのテストを参考にした
+    # https://github.com/ros2/launch/blob/074cd2903ddccd61bce8f40a0f58da0b7c200481/launch/test/launch/substitutions/test_command.py#L47
+    context = LaunchContext()
+    return loader.load().perform(context)
+
+
+def test_load_description():
+    # xacroの読み込みが成功することを期待
+    rdl = RobotDescriptionLoader()
+    assert exec_load(rdl)
+
+
+def test_change_description_path():
+    # xacroのファイルパスを変更し、読み込みが失敗することを期待
+    rdl = RobotDescriptionLoader()
+    rdl.robot_description_path = 'hoge'
+    with pytest.raises(Exception) as e:
+        exec_load(rdl)
+    assert e.value

urdf/raspimouse.urdf.xacro

@@ -13,6 +13,15 @@
   <xacro:arg name="robot_namespace" default="/" />
   <xacro:arg name="diffdrive_namespace" default="/" />
   <xacro:arg name="sensor_namespace" default="raspimouse_on_gazebo" />
+  <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="" />
 
   <material name="black">
     <color rgba="0.2 0.2 0.2 1.0"/>
@@ -139,4 +148,4 @@
   </xacro:if>
 
   <raspimouse_on_gazebo/>
-</robot>
+</robot>