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

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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.
This commit is contained in:
Даниил Грабарь
2026-09-21 05:21:28 +03:00
parent b1b8cedef1 0a091ad521
commit 30d64303fc
41 changed files with 1333 additions and 136 deletions
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src/iiwa_bringup/launch/iiwa.launch.py
+5
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@@ -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),