Expand the xacro tests over every backend - #17
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The docstring states why each spelling is rejected, which is what the assertions check. That the names once differed is not part of it.
The expansion test and the CI loop both ran with default args, which select mock hardware. The real backend is the one that emits a <ros2_control> block per bus -- three for lite_biped against mock's one -- so every hardware bring-up depended on a macro that nothing exercised. Parametrise over all four (use_mock_hardware, sim_mujoco) selections and add a test asserting the real backend emits one block per bus plus one per sensor, with distinct component names. Drop the mesh_root override from both: xacro ignores it, because the assembly never declares it as an arg. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EotyWG9YmYvg5xE2v3Zkpt
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The expansion test and the CI loop both ran with default args, which select mock hardware. The real backend is the one that emits a
<ros2_control>block per bus — three forlite_bipedagainst mock's one — so every hardware bring-up depended on a macro that nothing exercised.test_xacro_expands_and_check_urdfover all four(use_mock_hardware, sim_mujoco)selections, and do the same in the CI loop. 24 expansions now check out where 7 did.test_real_backend_emits_one_block_per_bus, asserting one block per bus plus one per sensor, with distinct component names. Negative-controlled: forcing a duplicate component name fails it.mesh_root:=override from both. The assembly never declaresmesh_rootas an arg, so xacro silently ignored it — the test comment claiming it avoided needing an installed ament workspace was false. The test passes only becausecheck_urdfnever resolvespackage://.Paired with Berkeley-Humanoids/humanoid_control_ros2#38.
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https://claude.ai/code/session_01EotyWG9YmYvg5xE2v3Zkpt