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добавлена поддержка moveit

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Даниил Грабарь
2025-12-24 13:44:55 +10:00
parent 6acbd7ca6f
commit 084d4c0aa7
15 changed files with 373 additions and 492 deletions
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src/iiwa_description/urdf/iiwa7.urdf.xacro
+32 -15
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@@ -1,6 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
<!-- Аргукменты -->
<xacro:arg name="initial_positions_file"
default="$(find iiwa_bringup)/config/initial_positions.yaml"/>
<xacro:property name="initial_positions"
value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
<xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
@@ -13,41 +21,50 @@
<ros2_control name="iiwaWebotsControl" type="system">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
<!-- <plugin>mock_components/GenericSystem</plugin> -->
</hardware>
<joint name="joint1">
<state_interface name="position"/>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint1']}</param>
</state_interface>
</joint>
<joint name="joint2">
<state_interface name="position"/>
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint2']}</param>
</state_interface>
</joint>
<joint name="joint3">
<state_interface name="position"/>
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint3']}</param>
</state_interface>
</joint>
<joint name="joint4">
<state_interface name="position"/>
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint4']}</param>
</state_interface>
</joint>
<joint name="joint5">
<state_interface name="position"/>
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint5']}</param>
</state_interface>
</joint>
<joint name="joint6">
<state_interface name="position"/>
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint6']}</param>
</state_interface>
</joint>
<joint name="joint7">
<state_interface name="position"/>
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint7']}</param>
</state_interface>
</joint>
</ros2_control>