Исправлены баги, добавлен код Object.proto, в который будут подставлятяь 3д объекты для последующего спавна

src/iiwa_bringup/config/iiwa_controller.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 31
+    update_rate: 100
 
     joint_state_broadcaster:
       type: "joint_state_broadcaster/JointStateBroadcaster"

src/iiwa_bringup/launch/digital_twin.launch.py

@@ -21,11 +21,7 @@ def _runtime_setup(context, *args, **kwatgs):
     model_path = LaunchConfiguration("model").perform(context)
     robot_name = LaunchConfiguration("robot_name").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)
     rotation = LaunchConfiguration("rotation").perform(context)
@@ -40,7 +36,7 @@ def _runtime_setup(context, *args, **kwatgs):
         executable="robot_state_publisher",
         name="robot_state_publisher",
         output="screen",
-        parameters=[{"robot_description": robot_description, "use_sim_time": False}],
+        parameters=[{"robot_description": robot_description, "use_sim_time": True}],
     )
 
     webots_launch = IncludeLaunchDescription(

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

@@ -35,7 +35,7 @@ def _spawn_setup(context, *args, **kwargs):
             },
             LaunchConfiguration("controller").perform(context),
         ],
-        respawn=True,
+        respawn=False,
     )
 
     controllers_launch = IncludeLaunchDescription(

src/iiwa_bringup/utils/converter.py

@@ -9,4 +9,4 @@ def load_robot_description(model_path: Path, robot_name: str) -> str:
     elif suffix == ".urdf":
         return Path(model_path).read_text(encoding="utf-8")
     else:
-        raise FileNotFoundError(f"Supported file formats: xacro/urdf")
+        raise FileNotFoundError("Supported file formats: xacro/urdf")