use_head_cameraオプションをuse_gazebo_head_cameraに変更

rt-net · Nov 21, 2023 · 3ac6d65 · 3ac6d65
1 parent 1c2f5fb
commit 3ac6d65
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Showing 4 changed files with 16 additions and 16 deletions.
diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py
@@ -18,8 +18,8 @@ def __init__(self):
         self.timeout_seconds = '1.0'
         self.manipulator_config_file_path = ''
         self.use_gazebo = 'false'
-        self.use_head_camera = 'false'
-        self.use_chest_camera = 'false'
+        self.use_gazebo_head_camera = 'false'
+        self.use_gazebo_chest_camera = 'false'
         self.gz_control_config_package = ''
         self.gz_control_config_file_path = ''
 
@@ -32,8 +32,8 @@ def load(self):
                 ' timeout_seconds:=', self.timeout_seconds,
                 ' manipulator_config_file_path:=', self.manipulator_config_file_path,
                 ' use_gazebo:=', self.use_gazebo,
-                ' use_head_camera:=', self.use_head_camera,
-                ' use_chest_camera:=', self.use_chest_camera,
+                ' use_gazebo_head_camera:=', self.use_gazebo_head_camera,
+                ' use_gazebo_chest_camera:=', self.use_gazebo_chest_camera,
                 ' gz_control_config_package:=', self.gz_control_config_package,
                 ' gz_control_config_file_path:=', self.gz_control_config_file_path
                 ])
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
@@ -61,21 +61,21 @@ def test_use_gazebo():
     assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
 
 
-def test_use_head_camera():
-    # use_head_cameraが変更され、xacroにhead_camera_linkがセットされることを期待
+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()
     rdl.use_gazebo = 'true'
-    rdl.use_head_camera = 'true'
+    rdl.use_gazebo_head_camera = 'true'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
     assert 'reference="head_camera_color_frame"' in exec_load(rdl)
 
 
-def test_use_chest_camera():
-    # use_chest_cameraが変更され、xacroにchest_camera_linkがセットされることを期待
+def test_use_gazebo_chest_camera():
+    # use_gazebo_chest_cameraが変更され、xacroにchest_camera_linkがセットされることを期待
     rdl = RobotDescriptionLoader()
     rdl.use_gazebo = 'true'
-    rdl.use_chest_camera = 'true'
+    rdl.use_gazebo_chest_camera = 'true'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
     assert 'reference="chest_camera_link"' in exec_load(rdl)
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
@@ -18,16 +18,16 @@
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.gazebo_ros2_control.xacro"/>
 
   <xacro:arg name="use_gazebo" default="false" />
-  <xacro:arg name="use_head_camera" default="false" />
-  <xacro:arg name="use_chest_camera" default="false" />
+  <xacro:arg name="use_gazebo_head_camera" default="false" />
+  <xacro:arg name="use_gazebo_chest_camera" default="false" />
   <xacro:arg name="port_name" default="/dev/sciurus17spine" />
   <xacro:arg name="baudrate" default="3000000" />
   <xacro:arg name="timeout_seconds" default="1.0" />
   <xacro:arg name="manipulator_config_file_path" default="" />
   <xacro:arg name="gz_control_config_package" default="" />
   <xacro:arg name="gz_control_config_file_path" default="" />
-  <xacro:property name="USE_HEAD_CAMERA" value="$(arg use_head_camera)"/>
-  <xacro:property name="USE_CHEST_CAMERA" value="$(arg use_chest_camera)"/>
+  <xacro:property name="USE_GAZEBO_HEAD_CAMERA" value="$(arg use_gazebo_head_camera)"/>
+  <xacro:property name="USE_GAZEBO_CHEST_CAMERA" value="$(arg use_gazebo_chest_camera)"/>
   <xacro:property name="PORT_NAME" value="$(arg port_name)"/>
   <xacro:property name="BAUDRATE" value="$(arg baudrate)"/>
   <xacro:property name="TIMEOUT_SECONDS" value="$(arg timeout_seconds)"/>

diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
@@ -58,7 +58,7 @@
       </plugin>
     </gazebo>
 
-    <xacro:if value="${USE_HEAD_CAMERA}">
+    <xacro:if value="${USE_GAZEBO_HEAD_CAMERA}">
       <gazebo reference="${NAME_HEAD_CAMERA_PREFIX}_color_frame">
         <sensor name="sim_realsense_d415" type="rgbd_camera">
           <update_rate>10</update_rate>
@@ -108,7 +108,7 @@
       </gazebo>
     </xacro:if>
 
-    <xacro:if value="${USE_CHEST_CAMERA}">
+    <xacro:if value="${USE_GAZEBO_CHEST_CAMERA}">
       <gazebo reference="${NAME_LINK_CHEST_CAMERA}">
         <sensor name="${NAME_CHEST_CAMERA_PREFIX}" type="camera">
           <pose relative_to="${NAME_LINK_CHEST_CAMERA}">0 0 0 ${radians(90)} ${radians(-90)} 0</pose>