Update API

src/iiwa_config/config/api_endpoints.yaml

@@ -14,13 +14,14 @@ endpoints:
 
   - path: /robot/pose
     method: GET
-    type: tf
+    type: fk
+    ros_name: /compute_fk
     parent_frame: base_link
     child_frame: tcp
     summary: "Текущая декартова поза TCP"
-    description: "Позиция (м) и ориентация TCP относительно base_link через TF2. Углы Эйлера в конвенции KUKA ABC (ZYX): A=рыскание, B=тангаж, C=крен."
+    description: "Позиция (м) и ориентация TCP относительно base_link через /compute_fk. Углы Эйлера в конвенции KUKA ABC (ZYX): A=рыскание, B=тангаж, C=крен."
     tags: [robot]
-    timeout: 1.0
+    timeout: 5.0
     enabled: true
 
   - path: /robot/stop

src/iiwa_config/config/moveit/joint_limits.yaml

@@ -20,8 +20,8 @@ joint_limits:
     max_jerk: 85.0
   joint2:
     has_position_limits: true
-    min_position: -2.09
+    min_position: -2.10
-    max_position: 2.09
+    max_position: 2.10
     has_velocity_limits: true
     max_velocity: 1.71
     has_acceleration_limits: true
@@ -40,8 +40,8 @@ joint_limits:
     max_jerk: 87.0
   joint4:
     has_position_limits: true
-    min_position: -2.09
+    min_position: -2.10
-    max_position: 2.09
+    max_position: 2.10
     has_velocity_limits: true
     max_velocity: 2.27
     has_acceleration_limits: true
@@ -60,8 +60,8 @@ joint_limits:
     max_jerk: 122.0
   joint6:
     has_position_limits: true
-    min_position: -2.09
+    min_position: -2.10
-    max_position: 2.09
+    max_position: 2.10
     has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true

src/iiwa_web/iiwa_web/dynamic_router.py

@@ -176,6 +176,61 @@ def _quat_to_euler_zyx(x: float, y: float, z: float, w: float) -> tuple[float, f
     return roll, pitch, yaw  # C, B, A
 
 
+def _make_fk_handler(ep: EndpointDef):
+    ros_name = ep.ros_name
+    fk_link = ep.child_frame
+    base_frame = ep.parent_frame
+    timeout = ep.timeout
+
+    def handler():
+        from moveit_msgs.srv import GetPositionFK
+
+        bridge = get_bridge()
+
+        deadline = time.monotonic() + timeout
+        while time.monotonic() < deadline:
+            js = bridge.get_latest("/joint_states")
+            if js is not None:
+                break
+            time.sleep(_POLL_INTERVAL)
+        else:
+            raise HTTPException(503, "Timeout waiting for /joint_states")
+
+        req = GetPositionFK.Request()
+        req.header.frame_id = base_frame
+        req.fk_link_names = [fk_link]
+        req.robot_state.joint_state = js
+
+        try:
+            resp = bridge.call_service(GetPositionFK, ros_name, req, timeout)
+        except (RuntimeError, TimeoutError) as e:
+            raise HTTPException(503, str(e))
+
+        if not resp.pose_stamped:
+            raise HTTPException(503, f"FK вернул пустой результат для '{fk_link}'")
+
+        pose = resp.pose_stamped[0].pose
+        t = pose.position
+        r = pose.orientation
+        roll, pitch, yaw = _quat_to_euler_zyx(r.x, r.y, r.z, r.w)
+
+        return {
+            "position": {"x": t.x, "y": t.y, "z": t.z},
+            "orientation": {
+                "quaternion": {"x": r.x, "y": r.y, "z": r.z, "w": r.w},
+                "euler_rad": {"a": yaw, "b": pitch, "c": roll},
+                "euler_deg": {
+                    "a": math.degrees(yaw),
+                    "b": math.degrees(pitch),
+                    "c": math.degrees(roll),
+                },
+            },
+            "frame": {"parent": base_frame, "child": fk_link},
+        }
+
+    return handler
+
+
 def _make_tf_handler(ep: EndpointDef):
     parent = ep.parent_frame
     child = ep.child_frame
@@ -238,13 +293,20 @@ def build_dynamic_router(
             if not ep.parent_frame or not ep.child_frame:
                 raise ValueError(f"TF-эндпоинт '{ep.path}' требует parent_frame и child_frame")
             handler = _make_tf_handler(ep)
+        elif ep.type == "fk":
+            if not ep.ros_name or not ep.parent_frame or not ep.child_frame:
+                raise ValueError(f"FK-эндпоинт '{ep.path}' требует ros_name, parent_frame и child_frame")
+            handler = _make_fk_handler(ep)
         else:
             raise ValueError(f"Неизвестный тип эндпоинта: '{ep.type}'")
 
+        operation_id = ep.path.strip("/").replace("/", "_") + "_" + ep.method.lower()
+
         router.add_api_route(
             ep.path,
             handler,
             methods=[ep.method],
+            operation_id=operation_id,
             summary=ep.summary or ep.description,
             description=ep.description,
             tags=ep.tags,

src/iiwa_web/package.xml

@@ -10,8 +10,10 @@
   <exec_depend>python3-fastapi</exec_depend>
   <exec_depend>python3-uvicorn</exec_depend>
   <exec_depend>python3-multipart</exec_depend>
+  <exec_depend>python3-fastmcp</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>tf2_py</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>