Merge controller into dev: bounded trajectories and shared seven-axis limits

Preserve dev TCP gizmo motion-priority handling while integrating Ruckig smoothing, continuous JTC spline validation and shared robot limits. Resolve launch and dependency conflicts without removing either feature set. Verified merged build of 8 packages and tests of 4 packages.

src/iiwa_bringup/launch/iiwa.launch.py

@@ -43,11 +43,13 @@ def _runtime_setup(context, *args, **kwargs):
     if simulate:
         xacro_args = {
             "initial_positions_file": settings.controller.moveit.initial_positions,
+            "joint_limits_file": settings.controller.moveit.joint_limits,
             "simulate": "true",
         }
     else:
         xacro_args = {
             "initial_positions_file": settings.controller.moveit.initial_positions,
+            "joint_limits_file": settings.controller.moveit.joint_limits,
             "robot_ip": settings.robot.ip,
             "fri_port": str(settings.robot.port),
             "fri_cycle_ms": str(settings.robot.fri_cycle_ms),
@@ -91,6 +93,7 @@ def _runtime_setup(context, *args, **kwargs):
                 "controller": str(settings.controller.controller_path),
                 "initial_positions_file": str(settings.controller.moveit.initial_positions),
                 "tcp_gizmo_enabled": str(settings.digital_twin.tcp_gizmo.enabled).lower(),
+                "joint_limits_file": str(settings.controller.moveit.joint_limits),
             }.items(),
         ))
 
@@ -102,6 +105,7 @@ def _runtime_setup(context, *args, **kwargs):
             "robot_name": settings.robot.name,
             "description": description_path,
             "initial_positions_file": settings.controller.moveit.initial_positions,
+            "joint_limits_file": settings.controller.moveit.joint_limits,
             "controller_path": settings.controller.controller_path,
             "simulate": "true",
             "transform": str(settings.digital_twin.webots.transform),
@@ -113,6 +117,7 @@ def _runtime_setup(context, *args, **kwargs):
             "robot_name": settings.robot.name,
             "description": description_path,
             "initial_positions_file": settings.controller.moveit.initial_positions,
+            "joint_limits_file": settings.controller.moveit.joint_limits,
             "controller_path": settings.controller.controller_path,
             "simulate": "false",
             "transform": str(settings.digital_twin.webots.transform),

src/iiwa_bringup/launch/supported/controllers.launch.py

@@ -32,7 +32,8 @@ def _setup_controllers(context, *args, **kwargs):
         raise ValueError("joint_position_tau must be finite and non-negative")
     update_rate = 1000 // fri_cycle_ms
 
-    xacro_args = {"initial_positions_file": initial_positions_file}
+    xacro_args = {"initial_positions_file": initial_positions_file,
+                  "joint_limits_file": LaunchConfiguration("joint_limits_file").perform(context)}
 
     if simulate:
         xacro_args["simulate"] = "true"

src/iiwa_bringup/launch/supported/moveit_nodes.py

@@ -1,6 +1,7 @@
 from launch_ros.actions import Node
 from moveit_configs_utils import MoveItConfigsBuilder
 from .tcp_gizmo_nodes import make_tcp_gizmo_nodes
+from iiwa_utils.converter import effective_joint_limits
 
 
 def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
@@ -10,7 +11,8 @@ def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
         .robot_description(
             file_path=settings.robot.description,
             mappings={
-                "initial_positions_file": settings.controller.moveit.initial_positions
+                "initial_positions_file": settings.controller.moveit.initial_positions,
+                "joint_limits_file": settings.controller.moveit.joint_limits
             },
         )
         .robot_description_semantic(file_path=settings.controller.moveit.srdf)
@@ -22,10 +24,16 @@ def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
         .to_moveit_configs()
     )
 
+    moveit_configs.joint_limits["robot_description_planning"] = effective_joint_limits(
+        moveit_configs.joint_limits["robot_description_planning"]
+    )
+
     common_params = [
         moveit_configs.to_dict(),
         {"robot_description": robot_description},
         {"use_sim_time": use_sim_time},
+        {"iiwa_dynamics.stopped_velocity_tolerance": settings.planning.stopped_velocity_tolerance,
+         "iiwa_dynamics.state_timeout": settings.planning.state_timeout},
     ]
 
     move_group = Node(

src/iiwa_bringup/launch/supported/optional_nodes.py

@@ -27,7 +27,10 @@ def make_web_server_node(settings, use_sim_time: bool) -> Node:
             "host": settings.web.host,
             "port": settings.web.port,
             "endpoints_path": settings.web.endpoints,
-            "joint_limits_path": settings.web.joint_limits,
+            "joint_limits_path": settings.controller.moveit.joint_limits,
+            "trajectory_state_timeout": settings.web.trajectory_state_timeout,
+            "trajectory_start_tolerance": settings.web.trajectory_start_tolerance,
+            "trajectory_stopped_velocity": settings.web.trajectory_stopped_velocity,
             "use_sim_time": use_sim_time,
         }],
     )

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

@@ -30,6 +30,7 @@ def _spawn_setup(context, *args, **kwargs):
         xacro_args={
             "simulate": "true",
             "initial_positions_file": initial_positions_file,
+            "joint_limits_file": LaunchConfiguration("joint_limits_file").perform(context),
         },
     )