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

src/iiwa_description/package.xml

@@ -3,12 +3,15 @@
 <package format="3">
   <name>iiwa_description</name>
   <version>0.0.0</version>
-  <description>Описание робота в urdf/xacro а также описание webots мира</description>
+  <description>URDF/XACRO описание робота KUKA iiwa7 и конфигурация мира Webots</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

src/iiwa_description/urdf/iiwa7.urdf.xacro

@@ -15,26 +15,20 @@
     <xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
-    <!-- <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/> -->
 
     <xacro:include filename="$(find iiwa_description)/urdf/tools/patron.xacro"/>
 
 
     <xacro:if value="$(arg simulate)">
 
-        <gazebo>
-            <plugin filename="gz_ros2_control-system"
-                    name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-                <parameters>$(find iiwa_config)/config/moveit/iiwa_controller.yaml</parameters>
-                <ros>
-                    <remapping>~/robot_description:=/robot_description</remapping>
-                </ros>
-            </plugin>
-        </gazebo>
+        <webots>
+            <plugin type="webots_ros2_control::Ros2Control"/>
+        </webots>
 
         <ros2_control name="iiwaGazeboControl" type="system">
+
             <hardware>
-                <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+                <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
             </hardware>
 
             <joint name="joint1">