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Enhance IIWA Robot Configuration and Launch Files

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- Updated iiwa7 URDF Xacro to include command and state interfaces for position and effort with defined limits for all joints.
- Modified setting_loader.py to include new fields for command_mode and description in the RobotCfg dataclass and settings loading process.
- Created iiwa.launch.py to manage the launch of the IIWA robot, integrating MoveIt configurations and RViz support.
- Added iiwa_controllers.launch.py to set up the controller manager and spawner for the IIWA robot.
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface for the KUKA IIWA 7 robot.
- Added iiwa7_fri.urdf.xacro to support FRI (Fast Robot Interface) with appropriate command and state interfaces for each joint.
This commit is contained in:
Даниил Грабарь
2026-04-06 09:40:04 +03:00
parent 032935dec9
commit 1dc17d5949
17 changed files with 1278 additions and 525 deletions
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src/iiwa_description/urdf/iiwa7.urdf.xacro
+76 -8
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@@ -20,50 +20,118 @@
<ros2_control name="iiwaWebotsControl" type="system">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
<!-- <plugin>mock_components/GenericSystem</plugin> -->
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint2">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint3">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint4">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint5">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint6">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint7">
<command_interface name="position"/>
<command_interface name="position">
<param name="min">-3.05</param>
<param name="max"> 3.05</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint7']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
src/iiwa_description/urdf/iiwa7_fri.urdf.xacro
+147
View File
@@ -0,0 +1,147 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
<xacro:arg name="initial_positions_file"
default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
<xacro:arg name="robot_ip" default="192.170.10.2"/>
<xacro:arg name="fri_port" default="30200"/>
<xacro:arg name="simulate" default="false"/>
<xacro:arg name="command_mode" default="position"/>
<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="$(find iiwa_description)/urdf/links.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
<ros2_control name="iiwaFRIControl" type="system">
<hardware>
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
<param name="robot_ip">$(arg robot_ip)</param>
<param name="fri_port">$(arg fri_port)</param>
<param name="simulate">$(arg simulate)</param>
<param name="command_mode">$(arg command_mode)</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint3">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint4">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint5">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint6">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint7">
<command_interface name="position">
<param name="min">-3.05</param>
<param name="max"> 3.05</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint7']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</robot>