Refactor launch files and update package descriptions for KUKA iiwa7, transitioning from Gazebo to Webots simulation

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

@@ -1,30 +1,32 @@
 from launch import LaunchDescription
 from launch.actions import (
     EmitEvent,
-    IncludeLaunchDescription,
     OpaqueFunction,
     RegisterEventHandler,
-    TimerAction,
 )
-from launch.event_handlers import OnProcessExit, OnProcessStart
+from launch.event_handlers import OnProcessExit
 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 launch.substitutions import LaunchConfiguration
 from webots_ros2_driver.webots_controller import WebotsController
 from webots_ros2_driver.webots_launcher import WebotsLauncher
 
+from iiwa_utils import converter
+
 
 def _spawn_setup(context, *args, **kwargs):
     robot_name = LaunchConfiguration("robot_name").perform(context)
     description = LaunchConfiguration("description").perform(context)
     world = LaunchConfiguration("world").perform(context)
-    transform = LaunchConfiguration("transform").perform(context)
-    rotation = LaunchConfiguration("rotation").perform(context)
-    controller_timer = LaunchConfiguration("controller_timer").perform(context)
     controller = LaunchConfiguration("controller").perform(context)
-    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(
-        context
+    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
+
+    robot_description = converter.load_robot_description(
+        model_path=description,
+        robot_name=robot_name,
+        xacro_args={
+            "simulate": "true",
+            "initial_positions_file": initial_positions_file,
+        },
     )
 
     webots = WebotsLauncher(world=world, ros2_supervisor=True)
@@ -33,7 +35,7 @@ def _spawn_setup(context, *args, **kwargs):
         robot_name=robot_name,
         parameters=[
             {
-                "robot_description": description,
+                "robot_description": robot_description,
                 "use_sim_time": True,
                 "set_robot_state_publisher": False,
             },
@@ -42,36 +44,6 @@ def _spawn_setup(context, *args, **kwargs):
         respawn=True,
     )
 
-    controllers_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("iiwa_bringup"),
-                    "launch",
-                    "supported",
-                    "webots_controllers.launch.py",
-                ]
-            )
-        ),
-        launch_arguments={
-            "robot_name": robot_name,
-            "description": description,
-            "transform": transform,
-            "rotation": rotation,
-            "controller_timer": controller_timer,
-            "initial_positions_file": initial_positions_file,
-        }.items(),
-    )
-
-    spawn_on_driver_start = RegisterEventHandler(
-        event_handler=OnProcessStart(
-            target_action=driver,
-            on_start=lambda evt, ctx: [
-                TimerAction(period=5.0, actions=[controllers_launch])
-            ],
-        )
-    )
-
     shutdown_on_webots_exit = RegisterEventHandler(
         OnProcessExit(target_action=webots, on_exit=[EmitEvent(event=Shutdown())])
     )
@@ -80,7 +52,6 @@ def _spawn_setup(context, *args, **kwargs):
         webots,
         webots._supervisor,
         driver,
-        spawn_on_driver_start,
         shutdown_on_webots_exit,
     ]