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

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -34,8 +34,6 @@ class RvizCfg:
 class DigitalTwinCfg:
     webots: WebotsCfg
     rviz: RvizCfg
-    description: str
-
 
 @dataclass(frozen=True)
 class MoveitCfg:
@@ -175,8 +173,7 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
 
     digital_twin = DigitalTwinCfg(
         webots=webots,
-        rviz=rviz,
-        description=resolve_path(str(require(dt_raw, "description")), settings_dir),
+        rviz=rviz
     )
 
     # controller, moveit
@@ -212,7 +209,6 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         assert_file(s.robot.description, "robot.description")
         assert_file(s.digital_twin.webots.world, "digital_twin.webots.world")
         assert_file(s.digital_twin.rviz.config, "digital_twin.rviz.config")
-        assert_file(s.digital_twin.description, "digital_twin.description")
         assert_file(s.controller.controller_path, "controller.controller_path")
 
         assert_file(s.controller.moveit.srdf, "controller.moveit.srdf")

src/iiwa_utils/package.xml

@@ -3,10 +3,16 @@
 <package format="3">
   <name>iiwa_utils</name>
   <version>0.1.0</version>
-  <description>Вспомогательные файлы для работы всей системы</description>
+  <description>Утилиты для работы системы iiwa7: загрузка конфигурации, обработка URDF/XACRO, спавн объектов в Webots</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
+  <depend>rclpy</depend>
+  <depend>xacro</depend>
+  <depend>ament_index_python</depend>
+  <depend>webots_ros2_msgs</depend>
+  <depend>python3-yaml</depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>