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

README.md

@@ -7,7 +7,7 @@
 sudo apt install -y ros-${ROS_DISTRO}-webots-ros2 \
                     ros-${ROS_DISTRO}-ros2-control \ 
                     ros-${ROS_DISTRO}-ros2-controllers \
-                    ros-${ROS_DISTRO}-moveit-* \
+                    ros-${ROS_DISTRO}-moveit \
 ```
 
 Установка moveit2 (внимательно проверяй)
@@ -23,12 +23,7 @@ sudo apt install -y build-essential \
                     wget
 
 # Not Using
-git clone https://github.com/moveit/moveit2.git
+LC_ALL=C ros2 launch iiwa_moveit demo...
-vcs import --recursive < moveit2/moveit2.repos
-sudo apt remove ros-$ROS_DISTRO-moveit*
-rosdep install -r --from-paths ./src/ --ignore-src --rosdistro $ROS_DISTRO --os=ubuntu:noble -y
-
-colcon build --mixin release
 
 sudo pip3 install transforms3d --break-system-packages
 ```

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 [
+    rviz_status = LaunchConfiguration("rviz").perform(context).lower() in ["true", "1", "yes",]
-        "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")

src/iiwa_description/resource/protos/Object.proto

@@ -0,0 +1,39 @@
+#VRML_SIM R2025a utf8
+# Describe the functionality of your PROTO here.
+# template language: javascript
+
+
+PROTO Object [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "my_object"
+  field MFString object_path []
+  field SFNode physics Physics{  }
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    contactMaterial "tool"
+    
+    children [
+      Shape {
+        appearance PBRAppearance {
+          roughness 1
+          metalness 0
+        }
+        geometry Mesh {
+          url IS object_path
+        }
+      }
+    ]
+    
+    boundingObject Mesh {
+      url IS object_path
+    }
+    
+    physics IS physics
+    
+  }
+}

src/iiwa_description/worlds/iiwa.wbt

@@ -5,9 +5,13 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/project
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
 EXTERNPROTO "../resource/protos/CollaborativeRobotTable.proto"
 EXTERNPROTO "../resource/protos/WorkspaceLimiter.proto"
+EXTERNPROTO "../resource/protos/Object.proto"
+
 
 WorldInfo {
   title "iiwa robotics"
+  basicTimeStep 10
+  optimalThreadCount 4
   contactProperties [
     ContactProperties {
       material1 "TableMaterial"
@@ -19,11 +23,18 @@ WorldInfo {
       softERP 1
       softCFM 0.0001
     }
+    ContactProperties {
+      material1 "tool"
+      material2 "TableMaterial"
+      bounce 0
+      softCFM 0.002
+      maxContactJoints 100
+    }
   ]
 }
 Viewpoint {
-  orientation 0.19675345789351045 -0.08356742903703787 -0.976885132249993 3.928186370440618
+  orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
-  position 5.324715157515194 -4.7927780008585446 4.166958679133935
+  position 5.0239232195737245 -5.039192619765231 4.166958679133935
   followType "Mounted Shot"
   ambientOcclusionRadius 3
 }
@@ -34,7 +45,7 @@ TexturedBackgroundLight {
   luminosity 2
 }
 RectangleArena {
-  name "Room"
+  name "Arena"
   floorSize 12 12
   wallHeight 2
 }
@@ -43,8 +54,7 @@ CollaborativeRobotTable {
   locked TRUE
   showCabinet TRUE
 }
-
+DEF limiter Group {
-Group {
   children [
     WorkspaceLimiter {
       translation -1.56 -0.219999 1.01

src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py

@@ -14,10 +14,16 @@ from webots_ros2_msgs.srv import SpawnNodeFromString
 class ObjectSpawner(Node):
     def __init__(self):
         super().__init__("object_spawner")
+
+        # параметры передаваемые
+        self.declare_parameter('objects_path', '')
+
+        # переменные
         self._object_count: int = randint(1, 5)
         self._spawned_count: int = 0
         self._call_in_progress: bool = False
 
+        # Реализация
         self.cli = self.create_client(
             SpawnNodeFromString, "/Ros2Supervisor/spawn_node_from_string"
         )
@@ -29,7 +35,9 @@ class ObjectSpawner(Node):
 
         self._timer = self.create_timer(0.1, self.timer_callback)
 
+    # TODO: переделать процесс спавна, должен сформировать все proto файлы, после чего заспавнить все объекты
     def timer_callback(self):
+        # TODO: здесь должен получать объекты
         if self._spawned_count >= self._object_count:
             self.get_logger().info(f"All {self._object_count} objects spawned")
             self._timer.cancel()
@@ -39,6 +47,7 @@ class ObjectSpawner(Node):
             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 = self._create_group(children=[data])
 
         req = SpawnNodeFromString.Request(data=data, check_fields=True)
         self.get_logger().info(
@@ -58,6 +67,10 @@ class ObjectSpawner(Node):
             self._call_in_progress = False
             self._spawned_count += 1
 
+    # Вспомогательные методы формирования кода для спавна объектов
+    def _create_group(self, children: list[str]) -> str:
+        return f"DEF OBJECTS Group {{children [{" ".join(children)}]}}"
+
 
 def main(args=None):
     try: