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Refactor code structure for improved readability and maintainability

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Даниил Грабарь
2026-04-14 18:06:58 +10:00
parent a913d512b9
commit 1156c768bb
13 changed files with 220 additions and 6765 deletions
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src/iiwa_config/config/cameras/d455_top.yaml
+14 -14
View File
@@ -6,9 +6,9 @@
name: d455_top
# Положение в сцене (x y z)
translation: "0 0 2.49"
translation: "0.25 0 2.49"
# Ориентация (ось_x ось_y ось_z угол_рад)
rotation: "0 0 1 0"
rotation: "0 1 0 1.5708"
# Блок camera
# Если блок отсутствует — Camera-девайс не создаётся
@@ -37,16 +37,16 @@ camera:
# Если блок отсутствует - RangeFinder-девайс не создаётся
# Поля соответствуют документации Webots:
# https://cyberbotics.com/doc/reference/rangefinder
# range_finder:
# width: 640
# height: 480
# fieldOfView: 1.047
# minRange: 0.1
# maxRange: 5.0
# resolution: -1.0 # -1 = без ограничений по дискретизации
# noise: 0.0
range_finder:
width: 640
height: 480
fieldOfView: 1.047
minRange: 0.1
maxRange: 5.0
resolution: -1.0 # -1 = без ограничений по дискретизации
noise: 0.0
# # Параметры публикации в ROS2
# ros:
# topic: /d455_top/depth/image_raw
# update_rate: 15
# Параметры публикации в ROS2
ros:
topic: /d455_top/depth/image_raw
update_rate: 15
src/iiwa_config/config/moveit/iiwa7.srdf
+17 -4
View File
@@ -20,8 +20,10 @@
<joint name="joint7"/>
<joint name="tools_joint"/>
<joint name="tool"/>
<joint name="cameraHolder_patron"/>
<joint name="cameraHolder_cameraD455"/>
<joint name="camera_holder_patron"/>
<joint name="camera_holder_corner"/>
<joint name="camera_corner_camera"/>
<joint name="camera_hand_to_optical"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="iiwa_arm">
@@ -86,7 +88,18 @@
<disable_collisions link1="link1" link2="camera_holder" reason="Never"/>
<disable_collisions link1="base_link" link2="camera_holder" reason="Never"/>
<disable_collisions link1="camera_holder" link2="patron" reason="Adjacent"/>
<disable_collisions link1="camera_hand" link2="camera_holder" reason="Adjacent"/>
<disable_collisions link1="camera_holder" link2="camera_corner" reason="Adjacent"/>
<disable_collisions link1="camera_corner" link2="patron" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link7" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link6" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link5" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link4" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link3" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link2" reason="Never"/>
<disable_collisions link1="camera_corner" link2="link1" reason="Never"/>
<disable_collisions link1="camera_corner" link2="base_link" reason="Never"/>
<disable_collisions link1="camera_corner" link2="camera_hand" reason="Adjacent"/>
<disable_collisions link1="camera_hand" link2="camera_holder" reason="Never"/>
<disable_collisions link1="camera_hand" link2="patron" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link7" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link6" reason="Never"/>
@@ -96,4 +109,4 @@
<disable_collisions link1="camera_hand" link2="link2" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link1" reason="Never"/>
<disable_collisions link1="camera_hand" link2="base_link" reason="Never"/>
</robot>
</robot>