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отформатированы документы согласно нотации pep

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This commit is contained in:
Даниил Грабарь
2025-11-29 15:51:45 +10:00
parent b36bd0e98b
commit 37da67abe5
8 changed files with 276 additions and 292 deletions
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src/iiwa_bringup/launch/digital_twin.launch.py
+67 -69
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@@ -1,15 +1,15 @@
from iiwa_bringup.utils import converter
from launch_ros.actions import Node
from launch import LaunchDescription from launch import LaunchDescription
from launch_ros.substitutions import FindPackageShare from launch.actions import (
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import (IncludeLaunchDescription,
DeclareLaunchArgument, DeclareLaunchArgument,
OpaqueFunction) IncludeLaunchDescription,
OpaqueFunction,
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from iiwa_bringup.utils import converter
PACKAGE = "iiwa_bringup" PACKAGE = "iiwa_bringup"
DESCRIPTION_PKG = "iiwa_description" DESCRIPTION_PKG = "iiwa_description"
@@ -18,132 +18,129 @@ DESCRIPTION_PKG = "iiwa_description"
def _runtime_setup(context, *args, **kwatgs): def _runtime_setup(context, *args, **kwatgs):
setup = [] setup = []
model_path = LaunchConfiguration('model').perform(context) model_path = LaunchConfiguration("model").perform(context)
robot_name = LaunchConfiguration('robot_name').perform(context) robot_name = LaunchConfiguration("robot_name").perform(context)
world_path = LaunchConfiguration('world').perform(context) world_path = LaunchConfiguration("world").perform(context)
rviz_status = LaunchConfiguration('rviz').perform(context).lower() in ['true', '1', 'yes'] rviz_status = LaunchConfiguration("rviz").perform(context).lower() in [
"true",
"1",
"yes",
]
transform = LaunchConfiguration('transform').perform(context) transform = LaunchConfiguration("transform").perform(context)
rotation = LaunchConfiguration('rotation').perform(context) rotation = LaunchConfiguration("rotation").perform(context)
timer = LaunchConfiguration('controller_timer').perform(context) timer = LaunchConfiguration("controller_timer").perform(context)
robot_description = converter.load_robot_description(model_path=model_path, robot_description = converter.load_robot_description(
robot_name=robot_name) model_path=model_path, robot_name=robot_name
)
rsp_node = Node( rsp_node = Node(
package="robot_state_publisher", package="robot_state_publisher",
executable="robot_state_publisher", executable="robot_state_publisher",
name="robot_state_publisher", name="robot_state_publisher",
output="screen", output="screen",
parameters=[{ parameters=[{"robot_description": robot_description, "use_sim_time": False}],
"robot_description": robot_description,
"use_sim_time": False
}]
) )
webots_launch = IncludeLaunchDescription( webots_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
PathJoinSubstitution([ PathJoinSubstitution(
[
FindPackageShare(PACKAGE), FindPackageShare(PACKAGE),
'launch', "launch",
'supported', 'webots_spawn.launch.py' "supported",
]) "webots_spawn.launch.py",
]
)
), ),
launch_arguments={ launch_arguments={
'robot_name': robot_name, "robot_name": robot_name,
'model': model_path, "model": model_path,
'world': world_path, "world": world_path,
'transform': transform, "transform": transform,
'rotation': rotation, "rotation": rotation,
'controller_timer': timer "controller_timer": timer,
}.items() }.items(),
) )
setup += [rsp_node, webots_launch] setup += [rsp_node, webots_launch]
if rviz_status: if rviz_status:
rviz_launch = IncludeLaunchDescription( rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
PathJoinSubstitution([FindPackageShare(PACKAGE), PathJoinSubstitution(
"launch", "supported", 'rviz.launch.py' [FindPackageShare(PACKAGE), "launch", "supported", "rviz.launch.py"]
])), )
launch_arguments={'package_name': PACKAGE}.items() ),
launch_arguments={"package_name": PACKAGE}.items(),
) )
setup.append(rviz_launch) setup.append(rviz_launch)
return setup return setup
def generate_launch_description():
def generate_launch_description():
# Объявление аргументов командной строки # Объявление аргументов командной строки
declare_model_arg = DeclareLaunchArgument( declare_model_arg = DeclareLaunchArgument(
name="model", name="model",
default_value=PathJoinSubstitution([ default_value=PathJoinSubstitution(
FindPackageShare(DESCRIPTION_PKG), [FindPackageShare(DESCRIPTION_PKG), "urdf", "iiwa7.urdf.xacro"]
"urdf", ),
"iiwa7.urdf.xacro" description="Path to robot xacro or urdf file (used to build robot_description).",
]),
description="Path to robot xacro or urdf file (used to build robot_description)."
) )
declare_robot_name_arg = DeclareLaunchArgument( declare_robot_name_arg = DeclareLaunchArgument(
name="robot_name", name="robot_name",
default_value="iiwa7", default_value="iiwa7",
description="Robot name (used for TF and naming spawned robot)." description="Robot name (used for TF and naming spawned robot).",
) )
declare_world_arg = DeclareLaunchArgument( declare_world_arg = DeclareLaunchArgument(
name="world", name="world",
default_value=PathJoinSubstitution([ default_value=PathJoinSubstitution(
FindPackageShare(DESCRIPTION_PKG), [FindPackageShare(DESCRIPTION_PKG), "worlds", "iiwa.wbt"]
"worlds", ),
"iiwa.wbt" description="Path to the Webots world (.wbt) to launch.",
]),
description="Path to the Webots world (.wbt) to launch."
) )
declare_controller_arg = DeclareLaunchArgument( declare_controller_arg = DeclareLaunchArgument(
name="controller", name="controller",
default_value=PathJoinSubstitution([ default_value=PathJoinSubstitution(
FindPackageShare(PACKAGE), [FindPackageShare(PACKAGE), "config", "iiwa_controller.yaml"]
"config", ),
"iiwa_controller.yaml" description="Path to controllers YAML file (used by spawner and controller_manager).",
]),
description="Path to controllers YAML file (used by spawner and controller_manager)."
) )
declare_transform_arg = DeclareLaunchArgument( declare_transform_arg = DeclareLaunchArgument(
name="transform", name="transform",
default_value="-0.25 0 0.79", default_value="-0.25 0 0.79",
description="Translation applied when spawning the robot in the Webots world (x y z)." description="Translation applied when spawning the robot in the Webots world (x y z).",
) )
declare_rotation_arg = DeclareLaunchArgument( declare_rotation_arg = DeclareLaunchArgument(
name="rotation", name="rotation",
default_value="0 0 1 0", default_value="0 0 1 0",
description="Rotation (axis-angle) applied when spawning the robot in the Webots world." description="Rotation (axis-angle) applied when spawning the robot in the Webots world.",
) )
declare_rviz_arg = DeclareLaunchArgument( declare_rviz_arg = DeclareLaunchArgument(
name="rviz", name="rviz",
default_value="0", default_value="0",
description="If true|1|yes then launch RViz and joint_state_publisher_gui instead of controllers." description="If true|1|yes then launch RViz and joint_state_publisher_gui instead of controllers.",
) )
declare_controller_manager_arg = DeclareLaunchArgument( declare_controller_manager_arg = DeclareLaunchArgument(
name="controller_timer", name="controller_timer",
default_value="50", default_value="50",
description="Timeout (seconds) for controller_manager spawners (--controller-manager-timeout)." description="Timeout (seconds) for controller_manager spawners (--controller-manager-timeout).",
) )
runtime_setup = OpaqueFunction( runtime_setup = OpaqueFunction(function=_runtime_setup)
function=_runtime_setup
)
return LaunchDescription([ return LaunchDescription(
[
declare_model_arg, declare_model_arg,
declare_robot_name_arg, declare_robot_name_arg,
declare_world_arg, declare_world_arg,
@@ -152,5 +149,6 @@ def generate_launch_description():
declare_rotation_arg, declare_rotation_arg,
declare_rviz_arg, declare_rviz_arg,
declare_controller_manager_arg, declare_controller_manager_arg,
runtime_setup runtime_setup,
]) ]
)
src/iiwa_bringup/launch/rviz_iiwa.launch.py
+39 -38
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@@ -1,10 +1,10 @@
from launch_ros.actions import Node
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
from launch.events import Shutdown
from launch.event_handlers import OnProcessExit from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description(): def generate_launch_description():
@@ -13,69 +13,70 @@ def generate_launch_description():
declare_model_arg = DeclareLaunchArgument( declare_model_arg = DeclareLaunchArgument(
name="model", name="model",
default_value=PathJoinSubstitution([ default_value=PathJoinSubstitution(
FindPackageShare(description_package_name), [FindPackageShare(description_package_name), "urdf", "iiwa7.urdf.xacro"]
"urdf", ),
"iiwa7.urdf.xacro" description="Path to the robot URDF/Xacro file",
]),
description="Path to the robot URDF/Xacro file"
) )
declare_robot_name_arg = DeclareLaunchArgument( declare_robot_name_arg = DeclareLaunchArgument(
name="robot_name", name="robot_name",
default_value="iiwa7", default_value="iiwa7",
description="Robot name fro the TF tree" description="Robot name fro the TF tree",
) )
robot_description = Command([ robot_description = Command(
"xacro ", LaunchConfiguration('model'), [
" robot_name:=", LaunchConfiguration("robot_name") "xacro ",
]) LaunchConfiguration("model"),
" robot_name:=",
LaunchConfiguration("robot_name"),
]
)
robot_state_publisher = Node( robot_state_publisher = Node(
package="robot_state_publisher", package="robot_state_publisher",
executable="robot_state_publisher", executable="robot_state_publisher",
name="robot_state_publisher", name="robot_state_publisher",
output="both", output="both",
parameters=[{ parameters=[
{
"robot_description": robot_description, "robot_description": robot_description,
"use_sim_time": False, "use_sim_time": False,
}] }
],
) )
joint_state_publisher_gui = Node( joint_state_publisher_gui = Node(
package='joint_state_publisher_gui', package="joint_state_publisher_gui",
executable='joint_state_publisher_gui', executable="joint_state_publisher_gui",
name='joint_state_publisher_gui', name="joint_state_publisher_gui",
parameters=[{"use_sim_time": False}] parameters=[{"use_sim_time": False}],
) )
rviz_config = PathJoinSubstitution([ rviz_config = PathJoinSubstitution(
FindPackageShare(package_name), [FindPackageShare(package_name), "config", "rviz_iiwa.rviz"]
'config', )
'rviz_iiwa.rviz'
])
rviz = Node( rviz = Node(
package='rviz2', package="rviz2",
executable='rviz2', executable="rviz2",
name='rviz2', name="rviz2",
arguments=['-d', rviz_config], arguments=["-d", rviz_config],
output='log' output="log",
) )
shutdown_on_rviz_exit = RegisterEventHandler( shutdown_on_rviz_exit = RegisterEventHandler(
OnProcessExit( OnProcessExit(target_action=rviz, on_exit=[EmitEvent(event=Shutdown())])
target_action=rviz,
on_exit=[EmitEvent(event=Shutdown())]
)
) )
return LaunchDescription([ return LaunchDescription(
[
declare_model_arg, declare_model_arg,
declare_robot_name_arg, declare_robot_name_arg,
robot_state_publisher, robot_state_publisher,
joint_state_publisher_gui, joint_state_publisher_gui,
rviz, rviz,
shutdown_on_rviz_exit shutdown_on_rviz_exit,
]) ]
)
src/iiwa_bringup/launch/supported/rviz.launch.py
+18 -28
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@@ -1,46 +1,36 @@
from launch_ros.actions import Node
from launch.events import Shutdown
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
from launch.event_handlers import OnProcessExit from launch.event_handlers import OnProcessExit
from launch_ros.substitutions import FindPackageShare from launch.events import Shutdown
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.actions import RegisterEventHandler, EmitEvent, DeclareLaunchArgument from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description(): def generate_launch_description():
declare_package_arg = DeclareLaunchArgument( declare_package_arg = DeclareLaunchArgument(
'package_name', "package_name",
default_value='iiwa_bringup', default_value="iiwa_bringup",
description='Package name where RViz config is stored' description="Package name where RViz config is stored",
) )
package_name = LaunchConfiguration('package_name') package_name = LaunchConfiguration("package_name")
rviz_config = PathJoinSubstitution([ rviz_config = PathJoinSubstitution(
FindPackageShare(package_name), [FindPackageShare(package_name), "config", "rviz_iiwa.rviz"]
'config', )
'rviz_iiwa.rviz'
])
rviz = Node( rviz = Node(
package='rviz2', package="rviz2",
executable='rviz2', executable="rviz2",
name='rviz2', name="rviz2",
arguments=['-d', rviz_config], arguments=["-d", rviz_config],
output='log' output="log",
) )
# При закрытии rviz закрываем все # При закрытии rviz закрываем все
shutdown_on_rviz_exit = RegisterEventHandler( shutdown_on_rviz_exit = RegisterEventHandler(
OnProcessExit( OnProcessExit(target_action=rviz, on_exit=[EmitEvent(event=Shutdown())])
target_action=rviz,
on_exit=[EmitEvent(event=Shutdown())]
)
) )
return LaunchDescription([ return LaunchDescription([declare_package_arg, rviz, shutdown_on_rviz_exit])
declare_package_arg,
rviz,
shutdown_on_rviz_exit
])
src/iiwa_bringup/launch/supported/webots_controllers.launch.py
+24 -25
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@@ -1,51 +1,50 @@
from launch_ros.actions import Node
from webots_ros2_driver.urdf_spawner import URDFSpawner
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import OpaqueFunction from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from webots_ros2_driver.urdf_spawner import URDFSpawner
from iiwa_bringup.utils import converter from iiwa_bringup.utils import converter
def _setup_controllers(context, *args, **kwargs): def _setup_controllers(context, *args, **kwargs):
model_path = LaunchConfiguration('model').perform(context) model_path = LaunchConfiguration("model").perform(context)
robot_name = LaunchConfiguration('robot_name').perform(context) robot_name = LaunchConfiguration("robot_name").perform(context)
transform = LaunchConfiguration('transform').perform(context) transform = LaunchConfiguration("transform").perform(context)
rotation = LaunchConfiguration('rotation').perform(context) rotation = LaunchConfiguration("rotation").perform(context)
timer = LaunchConfiguration('controller_timer').perform(context) timer = LaunchConfiguration("controller_timer").perform(context)
robot_description = converter.load_robot_description(model_path=model_path, robot_description = converter.load_robot_description(
robot_name=robot_name) model_path=model_path, robot_name=robot_name
)
tmo = ['--controller-manager-timeout', str(timer)] tmo = ["--controller-manager-timeout", str(timer)]
jsb = Node( jsb = Node(
package='controller_manager', package="controller_manager",
executable='spawner', executable="spawner",
output='screen', output="screen",
arguments=['joint_state_broadcaster'] + tmo, arguments=["joint_state_broadcaster"] + tmo,
parameters=[{'use_sim_time': False}], parameters=[{"use_sim_time": False}],
) )
jtc = Node( jtc = Node(
package='controller_manager', package="controller_manager",
executable='spawner', executable="spawner",
output='screen', output="screen",
arguments=['iiwa_arm_controller'] + tmo, arguments=["iiwa_arm_controller"] + tmo,
parameters=[{'use_sim_time': False}], parameters=[{"use_sim_time": False}],
) )
spawner_urdf = URDFSpawner( spawner_urdf = URDFSpawner(
name=robot_name, name=robot_name,
robot_description=robot_description, robot_description=robot_description,
translation=transform, translation=transform,
rotation=rotation rotation=rotation,
) )
return [jsb, jtc, spawner_urdf] return [jsb, jtc, spawner_urdf]
def generate_launch_description(): def generate_launch_description():
return LaunchDescription([ return LaunchDescription([OpaqueFunction(function=_setup_controllers)])
OpaqueFunction(function=_setup_controllers)
])
src/iiwa_bringup/launch/supported/webots_spawn.launch.py
+43 -49
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@@ -1,32 +1,29 @@
from launch.events import Shutdown
from launch import LaunchDescription from launch import LaunchDescription
from launch.event_handlers import OnProcessExit from launch.actions import (
from launch.substitutions import LaunchConfiguration EmitEvent,
from launch_ros.substitutions import FindPackageShare IncludeLaunchDescription,
from launch.event_handlers import OnProcessExit, OnProcessStart
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import (IncludeLaunchDescription,
OpaqueFunction, OpaqueFunction,
TimerAction,
RegisterEventHandler, RegisterEventHandler,
EmitEvent) TimerAction,
)
from launch.event_handlers import OnProcessExit, OnProcessStart
from webots_ros2_driver.webots_launcher import WebotsLauncher from launch.events import Shutdown
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from webots_ros2_driver.webots_controller import WebotsController from webots_ros2_driver.webots_controller import WebotsController
from webots_ros2_driver.webots_launcher import WebotsLauncher
def _spawn_setup(context, *args, **kwargs): def _spawn_setup(context, *args, **kwargs):
model_path = LaunchConfiguration('model').perform(context) model_path = LaunchConfiguration("model").perform(context)
robot_name = LaunchConfiguration('robot_name').perform(context) robot_name = LaunchConfiguration("robot_name").perform(context)
world_path = LaunchConfiguration('world').perform(context) world_path = LaunchConfiguration("world").perform(context)
transform = LaunchConfiguration('transform').perform(context) transform = LaunchConfiguration("transform").perform(context)
rotation = LaunchConfiguration('rotation').perform(context) rotation = LaunchConfiguration("rotation").perform(context)
timer = LaunchConfiguration('controller_timer').perform(context) timer = LaunchConfiguration("controller_timer").perform(context)
webots = WebotsLauncher(world=world_path, webots = WebotsLauncher(world=world_path, ros2_supervisor=True)
ros2_supervisor=True)
driver = WebotsController( driver = WebotsController(
robot_name=robot_name, robot_name=robot_name,
@@ -34,57 +31,54 @@ def _spawn_setup(context, *args, **kwargs):
{ {
"robot_description": model_path, "robot_description": model_path,
"use_sim_time": True, "use_sim_time": True,
"set_robot_state_publisher": False "set_robot_state_publisher": False,
}, },
LaunchConfiguration('controller').perform(context) LaunchConfiguration("controller").perform(context),
], ],
respawn=True respawn=True,
) )
controllers_launch = IncludeLaunchDescription( controllers_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
PathJoinSubstitution([ PathJoinSubstitution(
FindPackageShare('iiwa_bringup'), [
'launch', FindPackageShare("iiwa_bringup"),
'supported', "launch",
'webots_controllers.launch.py' "supported",
]) "webots_controllers.launch.py",
]
)
), ),
launch_arguments={ launch_arguments={
'robot_name': robot_name, "robot_name": robot_name,
'model': model_path, "model": model_path,
'transform': transform, "transform": transform,
'rotation': rotation, "rotation": rotation,
'controller_timer': timer "controller_timer": timer,
}.items() }.items(),
) )
spawn_on_driver_start = RegisterEventHandler( spawn_on_driver_start = RegisterEventHandler(
event_handler=OnProcessStart( event_handler=OnProcessStart(
target_action=driver, target_action=driver,
on_start=lambda evt, ctx: [ on_start=lambda evt, ctx: [
TimerAction(period=5.0, TimerAction(period=5.0, actions=[controllers_launch])
actions=[controllers_launch] ],
)
]
) )
) )
shutdown_on_webots_exit = RegisterEventHandler( shutdown_on_webots_exit = RegisterEventHandler(
OnProcessExit( OnProcessExit(target_action=webots, on_exit=[EmitEvent(event=Shutdown())])
target_action=webots,
on_exit=[EmitEvent(event=Shutdown())]
)
) )
return [webots, return [
webots,
webots._supervisor, webots._supervisor,
driver, driver,
spawn_on_driver_start, spawn_on_driver_start,
shutdown_on_webots_exit] shutdown_on_webots_exit,
]
def generate_launch_description(): def generate_launch_description():
return LaunchDescription([ return LaunchDescription([OpaqueFunction(function=_spawn_setup)])
OpaqueFunction(function=_spawn_setup)
])
src/iiwa_bringup/setup.py
+22 -19
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@@ -1,55 +1,58 @@
import os import os
from setuptools import setup from setuptools import setup
package_name = 'iiwa_bringup' package_name = "iiwa_bringup"
# Собираем список пакетов: основной + вложенные (если они есть). # Собираем список пакетов: основной + вложенные (если они есть).
packages = [package_name] packages = [package_name]
# Если есть подпапка utils с __init__.py — зарегистрируем её как iiwa_bringup.utils # Если есть подпапка utils с __init__.py — зарегистрируем её как iiwa_bringup.utils
if os.path.isdir('utils') and os.path.isfile(os.path.join('utils', '__init__.py')): if os.path.isdir("utils") and os.path.isfile(os.path.join("utils", "__init__.py")):
packages.append(f'{package_name}.utils') packages.append(f"{package_name}.utils")
# Соответствие имени пакета -> директория на диске. # Соответствие имени пакета -> директория на диске.
# iiwa_bringup -> текущая папка '.' # iiwa_bringup -> текущая папка '.'
# iiwa_bringup.utils -> ./utils # iiwa_bringup.utils -> ./utils
package_dir = { package_dir = {
package_name: '.', package_name: ".",
} }
if f'{package_name}.utils' in packages: if f"{package_name}.utils" in packages:
package_dir[f'{package_name}.utils'] = os.path.join('.', 'utils') package_dir[f"{package_name}.utils"] = os.path.join(".", "utils")
def data_files_from_tree(src_dir: str, dst_root: str) -> list: def data_files_from_tree(src_dir: str, dst_root: str) -> list:
entries = [] entries = []
if not os.path.isdir(src_dir): if not os.path.isdir(src_dir):
return entries return entries
EXCLUDE_DIRS = {'.git', '__pycache__', '.pytest_cache', '.idea'} EXCLUDE_DIRS = {".git", "__pycache__", ".pytest_cache", ".idea"}
EXCLUDES = {'.DS_Store', 'Thumbs.db'} EXCLUDES = {".DS_Store", "Thumbs.db"}
for root, dirs, files in os.walk(src_dir): for root, dirs, files in os.walk(src_dir):
dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS] dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS]
file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES] file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES]
if not file_list: if not file_list:
continue continue
rel = os.path.relpath(root, src_dir) rel = os.path.relpath(root, src_dir)
dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root dst_dir = os.path.join(dst_root, rel) if rel != "." else dst_root
entries.append((dst_dir, file_list)) entries.append((dst_dir, file_list))
return entries return entries
data_files = [(f'share/{package_name}', ['package.xml'])]
data_files += data_files_from_tree('launch', f'share/{package_name}/launch') data_files = [(f"share/{package_name}", ["package.xml"])]
data_files += data_files_from_tree('config', f'share/{package_name}/config') data_files += data_files_from_tree("launch", f"share/{package_name}/launch")
data_files += data_files_from_tree('resource', f'share/{package_name}/resource') data_files += data_files_from_tree("config", f"share/{package_name}/config")
data_files += data_files_from_tree("resource", f"share/{package_name}/resource")
setup( setup(
name=package_name, name=package_name,
version='0.0.1', version="0.0.1",
packages=packages, packages=packages,
package_dir=package_dir, package_dir=package_dir,
include_package_data=True, include_package_data=True,
data_files=data_files, data_files=data_files,
install_requires=['setuptools'], install_requires=["setuptools"],
zip_safe=False, zip_safe=False,
maintainer='Grabar Daniil', maintainer="Grabar Daniil",
maintainer_email='grabardm@ml-dev.ru', maintainer_email="grabardm@ml-dev.ru",
description='iiwa bringup package', description="iiwa bringup package",
license='Apache-2.0', license="Apache-2.0",
) )
src/iiwa_description/setup.py
+23 -22
View File
@@ -1,8 +1,10 @@
import os import os
from setuptools import find_packages, setup from setuptools import find_packages, setup
EXCLUDES = {'.DS_Store', 'Thumbs.db'} EXCLUDES = {".DS_Store", "Thumbs.db"}
EXCLUDE_DIRS = {'__pycache__', '.pytest_cache', '.git', '.idea'} EXCLUDE_DIRS = {"__pycache__", ".pytest_cache", ".git", ".idea"}
def data_files_from_tree(src_dir: str, dst_root: str) -> list: def data_files_from_tree(src_dir: str, dst_root: str) -> list:
""" """
@@ -20,12 +22,13 @@ def data_files_from_tree(src_dir: str, dst_root: str) -> list:
continue continue
rel = os.path.relpath(root, src_dir) rel = os.path.relpath(root, src_dir)
dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root dst_dir = os.path.join(dst_root, rel) if rel != "." else dst_root
entries.append((dst_dir, file_list)) entries.append((dst_dir, file_list))
return entries return entries
package_name = 'iiwa_description'
package_name = "iiwa_description"
resource_intsall_root = f"share/{package_name}/resource" resource_intsall_root = f"share/{package_name}/resource"
meshes_intsall_root = f"share/{package_name}/meshes" meshes_intsall_root = f"share/{package_name}/meshes"
@@ -34,36 +37,34 @@ worlds_intsall_root = f"share/{package_name}/worlds"
protos_intsall_root = f"share/{package_name}/protos" protos_intsall_root = f"share/{package_name}/protos"
data_files = [ data_files = [
('share/' + package_name, ['package.xml']), ("share/" + package_name, ["package.xml"]),
] ]
data_files += data_files_from_tree('resource', resource_intsall_root) data_files += data_files_from_tree("resource", resource_intsall_root)
data_files += data_files_from_tree('meshes', meshes_intsall_root) data_files += data_files_from_tree("meshes", meshes_intsall_root)
data_files += data_files_from_tree('urdf', urdf_intsall_root) data_files += data_files_from_tree("urdf", urdf_intsall_root)
data_files += data_files_from_tree('worlds', worlds_intsall_root) data_files += data_files_from_tree("worlds", worlds_intsall_root)
data_files += data_files_from_tree('protos', protos_intsall_root) data_files += data_files_from_tree("protos", protos_intsall_root)
setup( setup(
name=package_name, name=package_name,
version='0.0.1', version="0.0.1",
packages=find_packages(exclude=['test']), packages=find_packages(exclude=["test"]),
data_files=data_files, data_files=data_files,
install_requires=['setuptools'], install_requires=["setuptools"],
zip_safe=True, zip_safe=True,
maintainer='Grabar Daniil', maintainer="Grabar Daniil",
maintainer_email='grabardm@ml-dev.ru', maintainer_email="grabardm@ml-dev.ru",
description='TODO: Package description', description="TODO: Package description",
license='Apache-2.0', license="Apache-2.0",
extras_require={ extras_require={
'test': [ "test": [
'pytest', "pytest",
], ],
}, },
entry_points={ entry_points={
'console_scripts': [ "console_scripts": [],
],
}, },
) )
src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py
+12 -14
View File
@@ -2,25 +2,25 @@
# /Ros2Supervisor/spawn_urdf_robot # /Ros2Supervisor/spawn_urdf_robot
import rclpy
from random import randint from random import randint
import rclpy
from rclpy.executors import ExternalShutdownException
from rclpy.node import Node from rclpy.node import Node
from rclpy.task import Future from rclpy.task import Future
from rclpy.executors import ExternalShutdownException
from webots_ros2_msgs.srv import SpawnNodeFromString from webots_ros2_msgs.srv import SpawnNodeFromString
class ObjectSpawner(Node): class ObjectSpawner(Node):
def __init__(self): def __init__(self):
super().__init__("object_spawner") super().__init__("object_spawner")
# self._object_count: int = randint(1, 5) self._object_count: int = randint(1, 5)
self._object_count: int = 1
self._spawned_count: int = 0 self._spawned_count: int = 0
self._call_in_progress: bool = False self._call_in_progress: bool = False
self.cli = self.create_client(
self.cli = self.create_client(SpawnNodeFromString, SpawnNodeFromString, "/Ros2Supervisor/spawn_node_from_string"
"/Ros2Supervisor/spawn_node_from_string") )
while not self.cli.wait_for_service(timeout_sec=10): while not self.cli.wait_for_service(timeout_sec=10):
self.get_logger().warning( self.get_logger().warning(
@@ -31,19 +31,16 @@ class ObjectSpawner(Node):
def timer_callback(self): def timer_callback(self):
if self._spawned_count >= self._object_count: if self._spawned_count >= self._object_count:
self.get_logger().info( self.get_logger().info(f"All {self._object_count} objects spawned")
f"All {self._object_count} objects spawned"
)
self._timer.cancel() self._timer.cancel()
return return
if self._call_in_progress: if self._call_in_progress:
return return
data = "Solid { name \"test_box2\" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }" data = 'Solid { name "test_box2" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }'
req = SpawnNodeFromString.Request(data=data, req = SpawnNodeFromString.Request(data=data, check_fields=True)
check_fields=True)
self.get_logger().info( self.get_logger().info(
f"Calling spawn service #{self._spawned_count + 1}/{self._object_count}" f"Calling spawn service #{self._spawned_count + 1}/{self._object_count}"
) )
@@ -70,5 +67,6 @@ def main(args=None):
except (KeyboardInterrupt, ExternalShutdownException): except (KeyboardInterrupt, ExternalShutdownException):
pass pass
if __name__ == '__main__':
if __name__ == "__main__":
main() main()