Add Dockerfile and run script for Webots integration; update package dependencies

src/iiwa_bringup/package.xml

@@ -13,6 +13,7 @@
   <exec_depend>iiwa_utils</exec_depend>
   <exec_depend>iiwa_config</exec_depend>
   <exec_depend>iiwa_description</exec_depend>
+  <exec_depend>foxglove_bridge</exec_depend>
 
   <!-- ROS 2 infrastructure -->
   <exec_depend>launch</exec_depend>
@@ -32,6 +33,7 @@
 
   <!-- Webots -->
   <exec_depend>webots_ros2_driver</exec_depend>
+  <exec_depend>webots_ros2_control</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/iiwa_config/package.xml

@@ -9,6 +9,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <!-- Runtime plugins referenced in YAML configs -->
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>pilz_industrial_motion_planner</exec_depend>
+  <exec_depend>moveit_planners_chomp</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

src/iiwa_planning/package.xml

@@ -15,10 +15,15 @@
   <depend>moveit_ros_planning_interface</depend>
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>
+  <depend>moveit_planners_ompl</depend>
+  <depend>pilz_industrial_motion_planner</depend>
+  <depend>moveit_planners_chomp</depend>
   <depend>moveit_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>std_srvs</depend>
   <depend>moveit_py</depend>
   <depend>tf_transformations</depend>
+  <depend>python3-scipy</depend>
   <depend>iiwa_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

src/realsense2_rgbd_plugin/package.xml

@@ -19,6 +19,7 @@
     <depend>rviz_rendering</depend>
     <depend>rviz_default_plugins</depend>
     <depend>pluginlib</depend>
+    <depend>cv_bridge</depend>
 
     <export>
         <build_type>ament_cmake</build_type>

src/realsense2_ros_mqtt_bridge/package.xml

@@ -8,6 +8,15 @@
   <maintainer email="nir.azkiel@realsenseai.com">Nir Azkiel</maintainer>
   <license>Apache-2.0</license>
 
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>realsense2_camera_msgs</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-paho-mqtt</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>