gz-sim対応

rt-net · Jul 9, 2024 · b9329bd · b9329bd
1 parent 1566ac6
commit b9329bd
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
@@ -53,12 +53,12 @@ def test_manipulator_config_file_path():
 
 
 def test_use_gazebo():
-    # use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待
+    # 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'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
-    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
+    assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
 
 
 def test_use_gazebo_head_camera():

diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -5,7 +5,7 @@
 
     <ros2_control name="sciurus17" type="system">
       <hardware>
-        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${NAME_JOINT_BODY}">

diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
@@ -31,7 +31,7 @@
 
   <xacro:macro name="gazebo_robot_settings">
     <gazebo>
-      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
       </plugin>
     </gazebo>