From 0f6fed568f423756a9451b2c6351f0d3de7c36ec Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Tue, 7 Jul 2026 11:39:21 +0900 Subject: [PATCH 1/4] =?UTF-8?q?use=5Fisaacsim=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../robot_description_loader.py | 2 ++ test/test_robot_description_loader.py | 10 ++++++++ urdf/sciurus17.ros2_control.xacro | 24 ++++++++++++------- urdf/sciurus17.urdf.xacro | 2 ++ 4 files changed, 30 insertions(+), 8 deletions(-) diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py index e555f0b..1f7ebae 100755 --- a/sciurus17_description/robot_description_loader.py +++ b/sciurus17_description/robot_description_loader.py @@ -21,6 +21,7 @@ def __init__(self): self.use_gazebo_head_camera = 'false' self.use_gazebo_chest_camera = 'false' self.use_mock_components = 'false' + self.use_isaacsim = 'false' self.gz_control_config_package = '' self.gz_control_config_file_path = '' @@ -36,6 +37,7 @@ def load(self): ' use_gazebo_head_camera:=', self.use_gazebo_head_camera, ' use_gazebo_chest_camera:=', self.use_gazebo_chest_camera, ' use_mock_components:=', self.use_mock_components, + ' use_isaacsim:=', self.use_isaacsim, ' 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 index e3a2237..e5bfc61 100644 --- a/test/test_robot_description_loader.py +++ b/test/test_robot_description_loader.py @@ -88,3 +88,13 @@ def test_use_mock_components(): rdl.gz_control_config_package = 'sciurus17_description' rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml' assert 'mock_components/GenericSystem' in exec_load(rdl) + + +def test_use_isaacsim(): + # use_isaacsimが変更され、xacroにIsaac Sim向けのpluginがセットされることを期待 + rdl = RobotDescriptionLoader() + rdl.use_isaacsim = 'true' + description = exec_load(rdl) + assert 'topic_based_ros2_control/TopicBasedSystem' in description + assert '/joint_command' in description + assert '/joint_states' in description diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro index 3a584ab..ee9f948 100644 --- a/urdf/sciurus17.ros2_control.xacro +++ b/urdf/sciurus17.ros2_control.xacro @@ -3,6 +3,7 @@ - - mock_components/GenericSystem + + topic_based_ros2_control/TopicBasedSystem + /joint_command + /joint_states - - sciurus17_hardware/Sciurus17Hardware - ${port_name} - ${baudrate} - ${timeout_seconds} - ${manipulator_config_file_path} + + + mock_components/GenericSystem + + + sciurus17_hardware/Sciurus17Hardware + ${port_name} + ${baudrate} + ${timeout_seconds} + ${manipulator_config_file_path} + diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro index 5f0fe19..402bdf8 100644 --- a/urdf/sciurus17.urdf.xacro +++ b/urdf/sciurus17.urdf.xacro @@ -21,6 +21,7 @@ + @@ -118,6 +119,7 @@ Date: Wed, 8 Jul 2026 13:46:10 +0900 Subject: [PATCH 2/4] =?UTF-8?q?use=5Fisaacsim=E3=81=8Ctrue=E3=81=AE?= =?UTF-8?q?=E6=99=82=E3=81=AB=E3=82=AB=E3=83=A1=E3=83=A9=E3=83=AA=E3=83=B3?= =?UTF-8?q?=E3=82=AF=E3=81=8C=E5=AE=9A=E7=BE=A9=E3=81=95=E3=82=8C=E3=82=8B?= =?UTF-8?q?=E3=82=88=E3=81=86=E3=81=AB=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test/test_robot_description_loader.py | 7 +++++++ urdf/sciurus17.urdf.xacro | 5 +++++ 2 files changed, 12 insertions(+) diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py index e5bfc61..4cb780c 100644 --- a/test/test_robot_description_loader.py +++ b/test/test_robot_description_loader.py @@ -81,6 +81,13 @@ def test_use_gazebo_chest_camera(): assert 'reference="chest_camera_link"' in exec_load(rdl) +def test_use_isaacsim_head_camera(): + # use_isaacsim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_isaacsim = 'true' + assert 'head_camera_color_frame' in exec_load(rdl) + + def test_use_mock_components(): # use_mock_componentsが変更され、xacroにmock_componentsがセットされることを期待 rdl = RobotDescriptionLoader() diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro index 402bdf8..642c649 100644 --- a/urdf/sciurus17.urdf.xacro +++ b/urdf/sciurus17.urdf.xacro @@ -137,6 +137,10 @@ + + + + @@ -154,4 +158,5 @@ + From 438556789e311054c6ad658071ec20e3899028ad Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Wed, 8 Jul 2026 13:52:05 +0900 Subject: [PATCH 3/4] =?UTF-8?q?=E3=83=86=E3=82=B9=E3=83=88=E6=95=B4?= =?UTF-8?q?=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test/test_robot_description_loader.py | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py index 4cb780c..2be441d 100644 --- a/test/test_robot_description_loader.py +++ b/test/test_robot_description_loader.py @@ -81,13 +81,6 @@ def test_use_gazebo_chest_camera(): assert 'reference="chest_camera_link"' in exec_load(rdl) -def test_use_isaacsim_head_camera(): - # use_isaacsim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_isaacsim = 'true' - assert 'head_camera_color_frame' in exec_load(rdl) - - def test_use_mock_components(): # use_mock_componentsが変更され、xacroにmock_componentsがセットされることを期待 rdl = RobotDescriptionLoader() @@ -101,7 +94,11 @@ def test_use_isaacsim(): # use_isaacsimが変更され、xacroにIsaac Sim向けのpluginがセットされることを期待 rdl = RobotDescriptionLoader() rdl.use_isaacsim = 'true' - description = exec_load(rdl) - assert 'topic_based_ros2_control/TopicBasedSystem' in description - assert '/joint_command' in description - assert '/joint_states' in description + assert 'topic_based_ros2_control/TopicBasedSystem' in exec_load(rdl) + + +def test_use_isaacsim_head_camera(): + # use_isaacsim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_isaacsim = 'true' + assert 'head_camera_color_frame' in exec_load(rdl) From ff4cbcec101ff5eee9683ae9629e1b8f4cbcec1a Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Wed, 8 Jul 2026 17:45:44 +0900 Subject: [PATCH 4/4] =?UTF-8?q?=E3=83=86=E3=82=B9=E3=83=88=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test/test_robot_description_loader.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py index 2be441d..4f0184c 100644 --- a/test/test_robot_description_loader.py +++ b/test/test_robot_description_loader.py @@ -98,7 +98,7 @@ def test_use_isaacsim(): def test_use_isaacsim_head_camera(): - # use_isaacsimが変更され、xacroにhead_camera_linkがセットされることを期待 + # use_isaacsimが変更され、xacroにhead_camera_color_frameがセットされることを期待 rdl = RobotDescriptionLoader() rdl.use_isaacsim = 'true' - assert 'head_camera_color_frame' in exec_load(rdl) + assert 'name="head_camera_color_frame"' in exec_load(rdl)