Jazzy対応

.github/workflows/industrial_ci.yml

@@ -16,8 +16,7 @@ jobs:
         env:
           # テストがワークスペース内のパッケージに依存しているため、setup.bashを読み込む
           # Ref: https://github.com/ros-industrial/industrial_ci/issues/585
-          - { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
-          # - { ROS_DISTRO: rolling, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3

README.en.md

@@ -6,10 +6,11 @@
 
 ROS 2 package with URDF description macro for [CRANE-X7](https://rt-net.jp/products/crane-x7/).
 
-## Supported ROS distributions
+## Supported ROS 2 distributions
 
 - [Foxy](https://github.com/rt-net/crane_x7_description/tree/foxy-devel)
-- Humble
+- [Humble](https://github.com/rt-net/crane_x7_description/tree/humble)
+- [Jazzy](https://github.com/rt-net/crane_x7_description/tree/jazzy)
 
 ### ROS 1
 
@@ -22,7 +23,7 @@ ROS 2 package with URDF description macro for [CRANE-X7](https://rt-net.jp/produ
 # Clone crane_x7_description and install dependencies
 mkdir -p ~/ros2_ws/src
 cd ~/ros2_ws/src
-git clone -b ros2 https://github.com/rt-net/crane_x7_description
+git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_description.git
 rosdep install -r -y -i --from-paths .
 
 # Build the package

README.md

@@ -6,23 +6,24 @@
 
 [CRANE-X7](https://rt-net.jp/products/crane-x7/)のURDFファイルを含むROS 2パッケージです。
 
-## サポートするROSディストリビューション
+## サポートするROS 2ディストリビューション
 
 - [Foxy](https://github.com/rt-net/crane_x7_description/tree/foxy-devel)
-- Humble
+- [Humble](https://github.com/rt-net/crane_x7_description/tree/humble)
+- [Jazzy](https://github.com/rt-net/crane_x7_description/tree/jazzy)
 
 ### ROS 1
 
-- [Melodic](https://github.com/rt-net/crane_x7_description/tree/master)
-- [Noetic](https://github.com/rt-net/crane_x7_description/tree/master)
+- [Melodic](https://github.com/rt-net/crane_x7_description/tree/v1.0.0)
+- [Noetic](https://github.com/rt-net/crane_x7_description/tree/v1.0.0)
 
 ## インストール方法
 
 ```sh
 # 本パッケージをクローンし、依存関係をインストールする
 mkdir -p ~/ros2_ws/src
 cd ~/ros2_ws/src
-git clone -b ros2 https://github.com/rt-net/crane_x7_description
+git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_description.git
 rosdep install -r -y -i --from-paths .
 
 # パッケージをビルドする

package.xml

@@ -8,10 +8,11 @@
   <license>NON-COMMERCIAL LICENSE AGREEMENT</license>
 
   <author email="[email protected]">ShotaAk</author>
+  <author email="[email protected]">Nozomi Mizoguchi</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ign_ros2_control</depend>
+  <depend>gz_ros2_control</depend>
   <depend>joint_state_publisher_gui</depend>
   <depend>launch</depend>
   <depend>robot_state_publisher</depend>

test/test_robot_description_loader.py

@@ -59,12 +59,12 @@ def test_manipulator_links_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 = 'crane_x7_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_d435():

urdf/crane_x7.gazebo.xacro

@@ -54,7 +54,7 @@
             ">
 
     <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 ${config_package})/${config_file_path}</parameters>
       </plugin>
     </gazebo>

urdf/crane_x7.gazebo_ros2_control.xacro

@@ -32,7 +32,7 @@
 
     <ros2_control name="${name}" type="system">
       <hardware>
-        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${name_joint_1}">
@@ -114,14 +114,15 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-    <joint name="${name_joint_gripper_finger_b}">
-      <param name="mimic">${name_joint_gripper_finger_a}</param>
-      <param name="multiplier">1</param>
-      <command_interface name="position"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <state_interface name="effort"/>
-    </joint>
+
+      <joint name="${name_joint_gripper_finger_b}">
+        <param name="mimic">${name_joint_gripper_finger_a}</param>
+        <param name="multiplier">1</param>
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
 
     </ros2_control>
   </xacro:macro>