добавлена поддержка moveit

src/iiwa_bringup/launch/supported/rviz.launch.py

@@ -1,36 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.events import Shutdown
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-    declare_package_arg = DeclareLaunchArgument(
-        "package_name",
-        default_value="iiwa_bringup",
-        description="Package name where RViz config is stored",
-    )
-
-    package_name = LaunchConfiguration("package_name")
-
-    rviz_config = PathJoinSubstitution(
-        [FindPackageShare(package_name), "config", "rviz_iiwa.rviz"]
-    )
-
-    rviz = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        arguments=["-d", rviz_config],
-        output="log",
-    )
-
-    # При закрытии rviz закрываем все
-    shutdown_on_rviz_exit = RegisterEventHandler(
-        OnProcessExit(target_action=rviz, on_exit=[EmitEvent(event=Shutdown())])
-    )
-
-    return LaunchDescription([declare_package_arg, rviz, shutdown_on_rviz_exit])

src/iiwa_bringup/launch/supported/webots_controllers.launch.py

@@ -4,21 +4,23 @@ from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from webots_ros2_driver.urdf_spawner import URDFSpawner
 
+
 from iiwa_bringup.utils import converter
 
 
 def _setup_controllers(context, *args, **kwargs):
-    model_path = LaunchConfiguration("model").perform(context)
+    xacro_file = LaunchConfiguration("xacro_file").perform(context)
     robot_name = LaunchConfiguration("robot_name").perform(context)
     transform = LaunchConfiguration("transform").perform(context)
     rotation = LaunchConfiguration("rotation").perform(context)
     timer = LaunchConfiguration("controller_timer").perform(context)
 
     robot_description = converter.load_robot_description(
-        model_path=model_path, robot_name=robot_name
+        model_path=xacro_file, robot_name=robot_name
     )
 
     tmo = ["--controller-manager-timeout", str(timer)]
+    
 
     jsb = Node(
         package="controller_manager",

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

@@ -16,7 +16,7 @@ from webots_ros2_driver.webots_launcher import WebotsLauncher
 
 
 def _spawn_setup(context, *args, **kwargs):
-    model_path = LaunchConfiguration("model").perform(context)
+    xacro_file = LaunchConfiguration("xacro_file").perform(context)
     robot_name = LaunchConfiguration("robot_name").perform(context)
     world_path = LaunchConfiguration("world").perform(context)
     transform = LaunchConfiguration("transform").perform(context)
@@ -29,13 +29,13 @@ def _spawn_setup(context, *args, **kwargs):
         robot_name=robot_name,
         parameters=[
             {
-                "robot_description": model_path,
-                "use_sim_time": True,
+                "robot_description": xacro_file,
+                "use_sim_time": False,
                 "set_robot_state_publisher": False,
             },
             LaunchConfiguration("controller").perform(context),
         ],
-        respawn=False,
+        respawn=True,
     )
 
     controllers_launch = IncludeLaunchDescription(
@@ -51,7 +51,7 @@ def _spawn_setup(context, *args, **kwargs):
         ),
         launch_arguments={
             "robot_name": robot_name,
-            "model": model_path,
+            "xacro_file": xacro_file,
             "transform": transform,
             "rotation": rotation,
             "controller_timer": timer,