Add Demos for SDF #427
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Add Demos for SDF #427
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Signed-off-by: Aarav Gupta <[email protected]>
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@ahcorde Can I get an initial review? |
ahcorde
requested changes
Nov 8, 2024
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| # Copyright 2022 Open Source Robotics Foundation, Inc. | |||
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| # Copyright 2022 Open Source Robotics Foundation, Inc. | |
| # Copyright 2024 Open Source Robotics Foundation, Inc. |
Comment on lines
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| robot_description_content = Command( | ||
| [ | ||
| PathJoinSubstitution([FindExecutable(name='xacro')]), | ||
| ' ', | ||
| PathJoinSubstitution( | ||
| [FindPackageShare('gz_ros2_control_demos'), | ||
| 'sdf', 'test_diff_drive.xacro.sdf'] | ||
| ), | ||
| ] | ||
| ) |
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you don't need to do that, the sdf file doesn't have any xacro tag. You should read the file as it's
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you should be able to use something like from launch.substitutions import FileContent
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Adds demos for SDF. Linked to #ros2_control/1763.
These demos should help in testing the PR.
A couple of things I want an opinion on:
sdfdirectory is that okay or should something else be done?To test the diff_drive demo for SDF:
ros2 launch gz_ros2_control_demos diff_drive_example_sdf.launch.pyros2 run gz_ros2_control_demos example_diff_driveThe simulation should show a behaviour similar to the diff_drive demo for URDF.