テスト修正

rt-net · Nov 17, 2023 · 616c51d · 616c51d
1 parent f5c2602
commit 616c51d
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
@@ -68,7 +68,7 @@ def test_use_head_camera():
     rdl.use_head_camera = 'true'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
-    assert 'relative_to="head_camera_link"' in exec_load(rdl)
+    assert 'reference="head_camera_color_frame"' in exec_load(rdl)
 
 
 def test_use_chest_camera():
@@ -78,4 +78,4 @@ def test_use_chest_camera():
     rdl.use_chest_camera = 'true'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
-    assert 'relative_to="chest_camera_link"' in exec_load(rdl)
+    assert 'reference="chest_camera_link"' in exec_load(rdl)
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
@@ -58,8 +58,8 @@
       </plugin>
     </gazebo>
 
-    <gazebo reference="${NAME_HEAD_CAMERA_PREFIX}_color_frame">
-      <xacro:if value="${USE_HEAD_CAMERA}">
+    <xacro:if value="${USE_HEAD_CAMERA}">
+      <gazebo reference="${NAME_HEAD_CAMERA_PREFIX}_color_frame">
         <sensor name="sim_realsense_d415" type="rgbd_camera">
           <update_rate>10</update_rate>
           <always_on>true</always_on>
@@ -105,11 +105,11 @@
             </lens>
           </camera>
         </sensor>
-      </xacro:if>
-    </gazebo>
+      </gazebo>
+    </xacro:if>
 
-    <gazebo reference="${NAME_LINK_CHEST_CAMERA}">
-      <xacro:if value="${USE_CHEST_CAMERA}">
+    <xacro:if value="${USE_CHEST_CAMERA}">
+      <gazebo reference="${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>
           <update_rate>10</update_rate>
@@ -149,8 +149,8 @@
             </lens>
           </camera>
         </sensor>
-      </xacro:if>
-    </gazebo>
+      </gazebo>
+    </xacro:if>
 
     <gazebo reference="${NAME_LINK_ARM_R_1}">
       <xacro:material_gazebo_white/>