use_isaacsimを追加#25
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Pull request overview
本PRは、URDF/Xacro生成時に use_isaacsim オプションを追加し、Isaac Sim向けに ros2_control ハードウェアプラグイン（topic-based）へ切り替えられるようにする変更です。これにより、Gazebo/実機/モックに加えてIsaac Sim統合を選択できるようになります。
Changes:
use_isaacsim引数を追加し、xacro展開時にtopic_based_ros2_control/TopicBasedSystemを選択可能に変更- Isaac Sim利用時にも head camera のフレーム定義が生成されるよう条件を拡張
RobotDescriptionLoaderとテストにuse_isaacsim経路を追加
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| urdf/sciurus17.urdf.xacro | use_isaacsim arg追加、ros2_control設定へ伝搬、head cameraフレーム生成条件を拡張 |
| urdf/sciurus17.ros2_control.xacro | Isaac Sim用にTopicBasedSystemを選択する分岐を追加 |
| sciurus17_description/robot_description_loader.py | xacro呼び出し引数に use_isaacsim を追加 |
| test/test_robot_description_loader.py | use_isaacsim の反映を確認するテストを追加 |
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| <plugin>topic_based_ros2_control/TopicBasedSystem</plugin> | ||
| <param name="joint_commands_topic">/joint_command</param> | ||
| <param name="joint_states_topic">/joint_states</param> |
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