Added test for connector.

Author: ralphieraccoon

webots_ros2_tests/resource/connector_and_vacuum_gripper_test.urdf

@@ -0,0 +1,37 @@
+<?xml version="1.0" ?>
+<robot name="connector_and_vacuum_gripper_test_robot_webots">
+
+    <webots>
+        <plugin type="webots_ros2_control::Ros2Control" />
+    </webots>
+
+    <ros2_control name="robot_control" type="system">
+        <hardware>
+            <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
+        </hardware>
+        <joint name="connector_motor">
+            <command_interface name="position"/>
+            <state_interface name="position"/>
+        </joint>
+        <joint name="vacuum_gripper_motor">
+            <command_interface name="position"/>
+            <state_interface name="position"/>
+        </joint>
+    </ros2_control>
+
+    <link name="base_link"/>
+    <link name="connector_link"/>
+    <link name="vacuum_gripper_link"/>
+
+    <joint name="connector_motor" type="prismatic">
+        <parent link="base_link"/>
+        <child link="connector_link"/>
+        <limit effort="10" lower="-0.05" upper="0.05" velocity="0.01"/>
+    </joint>
+    <joint name="vacuum_gripper_motor" type="prismatic">
+        <parent link="base_link"/>
+        <child link="vacuum_gripper_link"/>
+        <limit effort="10" lower="-0.05" upper="0.05" velocity="0.01"/>
+    </joint>
+
+</robot>

webots_ros2_tests/resource/connector_and_vacuum_gripper_test_ros2_control.yml

@@ -0,0 +1,15 @@
+/robot/controller_manager:
+  ros__parameters:
+    update_rate: 50
+    
+    connector_and_vacuum_gripper_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+/robot/connector_and_vacuum_gripper_position_controller:
+  ros__parameters:
+    joints:
+      - connector_motor
+      - vacuum_gripper_motor

webots_ros2_tests/resource/object_position.urdf.xacro

@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="object">
+    <xacro:arg name="object_name" default="generic" />
+    <webots>
+        <device reference="$(arg object_name)_position" type="GPS">
+            <ros>
+                <enabled>true</enabled>
+                <alwaysOn>true</alwaysOn>
+            </ros>
+        </device>
+        <plugin type="webots_ros2_control::Ros2Control" />
+    </webots>
+
+    <ros2_control name="$(arg object_name)_control" type="system">
+        <hardware>
+            <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
+        </hardware>
+    </ros2_control>
+
+    <link name=""/>
+
+</robot>

webots_ros2_tests/setup.py

@@ -5,8 +5,8 @@
 data_files = [
     ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
     ('share/' + package_name, ['package.xml']),
-    ('share/' + package_name + '/worlds', ['worlds/driver_test.wbt', 'worlds/.driver_test.wbproj']),
-    ('share/' + package_name + '/resource', ['resource/driver_test.urdf'])
+    ('share/' + package_name + '/worlds', ['worlds/driver_test.wbt', 'worlds/.driver_test.wbproj', 'worlds/connector_and_vacuum_gripper_test.wbt', 'worlds/.connector_and_vacuum_gripper_test.wbproj']),
+    ('share/' + package_name + '/resource', ['resource/driver_test.urdf', 'resource/connector_and_vacuum_gripper_test.urdf', 'resource/object_position.urdf.xacro', 'resource/connector_and_vacuum_gripper_test_ros2_control.yml'])
 ]
 
 setup(