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

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Даниил Грабарь
2026-04-09 13:52:28 +10:00
parent 58f246e1f2
commit 845f4ca89c
16 changed files with 147 additions and 274 deletions
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src/iiwa_bringup/package.xml
+25 -2
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@@ -3,13 +3,36 @@
<package format="3">
<name>iiwa_bringup</name>
<version>0.2.0</version>
<description>Файлы запуска проектов</description>
<description>Launch-файлы для запуска KUKA iiwa7: симуляция Webots, реальный робот через FRI, MoveIt и RViz</description>
<maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<!-- Внутренние пакеты проекта -->
<exec_depend>iiwa_utils</exec_depend>
<exec_depend>iiwa_config</exec_depend>
<exec_depend>iiwa_description</exec_depend>
<!-- ROS 2 infrastructure -->
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<!-- MoveIt 2 -->
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_configs_utils</exec_depend>
<exec_depend>rviz2</exec_depend>
<!-- ros2_control -->
<exec_depend>controller_manager</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>forward_command_controller</exec_depend>
<!-- Webots -->
<exec_depend>webots_ros2_driver</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>