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

README.md

@@ -53,4 +53,10 @@ sudo pip3 install transforms3d --break-system-packages
 Спавн `.proto`:
 
 
-Можно заготовить готовые `.proto` файлы, и потом случайно спавнить объект по такому принципу + создать Node который будет вызываться и спавнить этот объекты. Может быть шаблон куда потом подставятся данные через `.format()`. По такому же принципу спавн человека. Остается понять, только задать область спавна относительно робта
+Можно заготовить готовые `.proto` файлы, и потом случайно спавнить объект по такому принципу + создать Node который будет вызываться и спавнить этот объекты. Может быть шаблон куда потом подставятся данные через `.format()`. По такому же принципу спавн человека. Остается понять, только задать область спавна относительно робта
+
+Установка зависимостей для сборки пакетов:
+
+```bash
+rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:jammy
+```

src/iiwa_bringup/launch/digital_twin.launch.py

@@ -26,7 +26,7 @@ def _runtime_setup(context, *args, **kwatgs):
     )
 
     robot_description = converter.load_robot_description(
-        model_path=settings.digital_twin.description,
+        model_path=settings.robot.description,
         robot_name=settings.robot.name,
         xacro_args={
             "initial_positions_file": settings.controller.moveit.initial_positions
@@ -54,7 +54,7 @@ def _runtime_setup(context, *args, **kwatgs):
         ),
         launch_arguments={
             "robot_name": str(settings.robot.name),
-            "description": str(settings.digital_twin.description),
+            "description": str(settings.robot.description),
             "world": str(settings.digital_twin.webots.world),
             "transform": str(settings.digital_twin.webots.transform),
             "rotation": str(settings.digital_twin.webots.rotation),
@@ -67,7 +67,7 @@ def _runtime_setup(context, *args, **kwatgs):
     moveit_configs = (
         MoveItConfigsBuilder("iiwa7", package_name="iiwa_config")
         .robot_description(
-            file_path=settings.digital_twin.description,
+            file_path=settings.robot.description,
             mappings={
                 "initial_positions_file": settings.controller.moveit.initial_positions
             },

src/iiwa_bringup/launch/iiwa.launch.py

@@ -5,8 +5,6 @@ from launch.actions import (
     IncludeLaunchDescription,
     OpaqueFunction,
     RegisterEventHandler,
-    SetEnvironmentVariable,
-    # TimerAction,
 )
 from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit
@@ -16,7 +14,6 @@ from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 from moveit_configs_utils import MoveItConfigsBuilder
-from ament_index_python.packages import get_package_share_directory
 
 from iiwa_utils import converter, setting_loader
 
@@ -79,29 +76,54 @@ def _runtime_setup(context, *args, **kwargs):
 
     setup += [rsp_node]
 
-    # gazebo spawn
+    # webots spawn
     if simulate:
-        gazebo_launch = IncludeLaunchDescription(
+        webots_launch = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 PathJoinSubstitution(
                     [
                         FindPackageShare("iiwa_bringup"),
-                        "launch", "supported", "gazebo.launch.py",
+                        "launch",
+                        "supported",
+                        "webots_spawn.launch.py",
                     ]
                 )
             ),
-            # TODO: добавить аргументы для transform и rotation и передать их из setting.yaml а также мир
             launch_arguments={
-                "robot_name": settings.robot.name,
+                "robot_name": str(settings.robot.name),
-                "world": str(get_package_share_directory("iiwa_description") + "/worlds/iiwa_world.sdf"),
+                "description": str(settings.robot.description),
-                "gazebo_config": str(get_package_share_directory("iiwa_config") + "/config/gazebo/gz_bridge.yaml"),
+                "world": str(settings.digital_twin.webots.world),
-                "simulate": "true",
+                "transform": str(settings.digital_twin.webots.transform),
+                "rotation": str(settings.digital_twin.webots.rotation),
+                "controller_timer": str(settings.digital_twin.webots.controller_timer),
+                "controller": str(settings.controller.controller_path),
+                "initial_positions_file": str(settings.controller.moveit.initial_positions),
             }.items(),
         )
 
-        setup += [gazebo_launch]
+        setup += [webots_launch]
     
-    # Controller launch
+    # Controller launch)
+    if simulate:
+        controller_args = {
+            "robot_name": settings.robot.name,
+            "description": description_path,
+            "initial_positions_file": settings.controller.moveit.initial_positions,
+            "controller_path": settings.controller.controller_path,
+            "simulate": "true",
+            "transform": str(settings.digital_twin.webots.transform),
+            "rotation": str(settings.digital_twin.webots.rotation),
+            "controller_timer": str(settings.digital_twin.webots.controller_timer),
+        }
+    else:
+        controller_args = {
+            "robot_name": settings.robot.name,
+            "description": description_path,
+            "initial_positions_file": settings.controller.moveit.initial_positions,
+            "controller_path": settings.controller.controller_path,
+            "simulate": "false",
+        }
+
     controllers_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -113,13 +135,7 @@ def _runtime_setup(context, *args, **kwargs):
                 ]
             )
         ),
-        launch_arguments={
+        launch_arguments=controller_args.items(),
-            "robot_name": settings.robot.name,
-            "description": description_path,
-            "initial_positions_file": settings.controller.moveit.initial_positions,
-            # "simulate": str(simulate),
-            "controller_path": settings.controller.controller_path,
-        }.items(),
     )
 
     # Moveit launch
@@ -206,15 +222,9 @@ def generate_launch_description():
         description="Путь к файлу настроек",
     )
 
-    gz_resource_path = SetEnvironmentVariable(
-        name="GZ_SIM_RESOURCE_PATH",
-        value=get_package_share_directory("iiwa_description") + "/..",
-    )
-
     runtime_setup = OpaqueFunction(function=_runtime_setup)
 
     return LaunchDescription([
-        gz_resource_path,
         declare_simulate,
         declare_rviz,
         declare_setting,

src/iiwa_bringup/launch/supported/controllers.launch.py

@@ -4,6 +4,8 @@ from launch.substitutions import LaunchConfiguration
 from launch.event_handlers import OnProcessExit
 from launch.actions import RegisterEventHandler
 from launch_ros.actions import Node
+from webots_ros2_driver.urdf_spawner import URDFSpawner
+
 
 from iiwa_utils import converter
 
@@ -11,27 +13,32 @@ from iiwa_utils import converter
 def _setup_controllers(context, *args, **kwargs):
     robot_name = LaunchConfiguration("robot_name").perform(context)
     description = LaunchConfiguration("description").perform(context)
+    transform = LaunchConfiguration("transform").perform(context)
+    rotation = LaunchConfiguration("rotation").perform(context)
     initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
+    controller_timer = LaunchConfiguration("controller_timer").perform(context)
     controller_path = LaunchConfiguration("controller_path").perform(context)
     simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
 
+    xacro_args = {"initial_positions_file": initial_positions_file}
+    if simulate:
+        xacro_args["simulate"] = "true"
+
     robot_description = converter.load_robot_description(
         model_path=description,
         robot_name=robot_name,
-        xacro_args={"initial_positions_file": initial_positions_file},
+        xacro_args=xacro_args,
     )
 
-    # СИМУЛЯЦИЯ (Gazebo)
+    # Webots
     if simulate:
+        tmo = ["--controller-manager-timeout", str(controller_timer)]
+
         jsb = Node(
             package="controller_manager",
             executable="spawner",
             output="screen",
-            arguments=[
+            arguments=["joint_state_broadcaster"] + tmo,
-                "joint_state_broadcaster",
-                "--controller-manager", "/controller_manager",
-                "--controller-manager-timeout", "30",
-            ],
             parameters=[{"use_sim_time": True}],
         )
 
@@ -39,24 +46,29 @@ def _setup_controllers(context, *args, **kwargs):
             package="controller_manager",
             executable="spawner",
             output="screen",
-            arguments=[
+            arguments=["iiwa_arm_controller"] + tmo,
-                "iiwa_arm_controller",
-                "--controller-manager", "/controller_manager",
-                "--controller-manager-timeout", "30",
-            ],
             parameters=[{"use_sim_time": True}],
         )
 
-        jtc_after_jsb = RegisterEventHandler(
+        torque_controller_spawner = Node(
-            OnProcessExit(
+            package="controller_manager",
-                target_action=jsb,
+            executable="spawner",
-                on_exit=[jtc],
+            output="screen",
-            )
+            arguments=["forward_torque_controller",
+                    "--inactive"] + tmo,
+            parameters=[{"use_sim_time": True}]
         )
 
-        return [jsb, jtc_after_jsb]
+        spawner_urdf = URDFSpawner(
+            name=robot_name,
+            robot_description=robot_description,
+            translation=transform,
+            rotation=rotation,
+        )
 
-    # РЕАЛЬНЫЙ РОБОТ (FRI)
+        return [jsb, jtc, torque_controller_spawner, spawner_urdf]
+
+    # FRI
     else:
         ros2_control_node = Node(
             package="controller_manager",
@@ -114,4 +126,4 @@ def _setup_controllers(context, *args, **kwargs):
 
 
 def generate_launch_description():
-    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])
+    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])

src/iiwa_bringup/launch/supported/gazebo.launch.py

@@ -1,90 +0,0 @@
-from ament_index_python import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import (
-    IncludeLaunchDescription,
-    OpaqueFunction,
-)
-from launch_ros.actions import Node
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.substitutions import FindPackageShare
-
-
-def _spawn_setup(context, *args, **kwargs):
-    robot_name = LaunchConfiguration("robot_name").perform(context)
-    world = LaunchConfiguration("world").perform(context)
-    gazebo_config = LaunchConfiguration("gazebo_config").perform(context)
-    simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
-    # transform = LaunchConfiguration("transform").perform(context)
-    
-    gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("ros_gz_sim"),
-                    "launch",
-                    "gz_sim.launch.py",
-                ]
-            )
-        ),
-        launch_arguments={
-            "gz_args": f"-r {world} --render-engine ogre",
-            "on_exit_shutdown": "true",
-            }.items(),
-    )
-
-    # Table Spawner
-    spawn_table = Node(
-        package="ros_gz_sim",
-        executable="create",
-        name="spawn_table",
-        output="screen",
-        arguments=[
-            "-file", str(
-                get_package_share_directory("iiwa_description")
-                + "/urdf/table/table.urdf"
-            ),
-            "-name",  "iiwa_table",
-            "-x", "0.0",
-            "-y", "0.0",
-            "-z", "0.0",
-        ],
-    )
-
-    # Robot Spawner
-    # TODO: добавить аргументы для transform и rotation
-    spawn_robot = Node(
-        package="ros_gz_sim",
-        executable="create",
-        name="spawn_iiwa7",
-        output="screen",
-        arguments=[
-            "-topic", "/robot_description",
-            "-name", robot_name,
-            "-x", "-0.25",
-            "-y", "0.0",
-            "-z", "0.81"
-        ],
-    )
-
-    gz_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        name="gz_bridge",
-        output="screen",
-        parameters=[{
-            "config_file": gazebo_config,
-            "use_sim_time": simulate
-        }],
-    )
-
-    return [
-        gazebo,
-        spawn_table,
-        spawn_robot, 
-        gz_bridge
-    ]
-
-
-def generate_launch_description():
-    return LaunchDescription([OpaqueFunction(function=_spawn_setup)])

src/iiwa_bringup/launch/supported/webots_controllers.launch.py

@@ -1,64 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import OpaqueFunction
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from webots_ros2_driver.urdf_spawner import URDFSpawner
-
-from iiwa_utils import converter
-
-
-def _setup_controllers(context, *args, **kwargs):
-    robot_name = LaunchConfiguration("robot_name").perform(context)
-    description = LaunchConfiguration("description").perform(context)
-    transform = LaunchConfiguration("transform").perform(context)
-    rotation = LaunchConfiguration("rotation").perform(context)
-    controller_timer = LaunchConfiguration("controller_timer").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={"initial_positions_file": initial_positions_file},
-    )
-
-    tmo = ["--controller-manager-timeout", str(controller_timer)]
-
-    jsb = Node(
-        package="controller_manager",
-        executable="spawner",
-        output="screen",
-        arguments=["joint_state_broadcaster"] + tmo,
-        parameters=[{"use_sim_time": True}],
-    )
-
-    jtc = Node(
-        package="controller_manager",
-        executable="spawner",
-        output="screen",
-        arguments=["iiwa_arm_controller"] + tmo,
-        parameters=[{"use_sim_time": True}],
-    )
-
-    torque_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        output="screen",
-        arguments=["forward_torque_controller",
-                   "--inactive"] + tmo,
-        parameters=[{"use_sim_time": True}]
-    )
-
-    spawner_urdf = URDFSpawner(
-        name=robot_name,
-        robot_description=robot_description,
-        translation=transform,
-        rotation=rotation,
-    )
-
-    return [jsb, jtc, torque_controller_spawner, spawner_urdf]
-
-
-def generate_launch_description():
-    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])

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
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.substitutions import FindPackageShare
 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(
+    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
-        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,
     ]
 

src/iiwa_bringup/package.xml

@@ -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>
 

src/iiwa_config/config/setting.yaml

@@ -16,8 +16,6 @@ digital_twin:
   rviz:
     config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
 
-  description: pkg://iiwa_description/urdf/iiwa7_digital.urdf.xacro
-
 controller:
   controller_path: pkg://iiwa_config/config/moveit/iiwa_controller.yaml
 

src/iiwa_config/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>iiwa_config</name>
   <version>0.1.0</version>
-  <description>Пакет с настройками цифрового двойника и физического робота</description>
+  <description>Конфигурационные файлы системы KUKA iiwa7: параметры MoveIt, контроллеров, кинематики и общих настроек</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 

src/iiwa_controller/package.xml

@@ -3,8 +3,8 @@
 <package format="3">
   <name>iiwa_controller</name>
   <version>0.1.0</version>
-  <description>Own controller for controlling the KUKA aiwa 7 collaborative robot using the FRI library</description>
+  <description>Hardware interface для KUKA iiwa7: управление через FRI (Fast Robot Interface) в экосистеме ros2_control</description>
-  <maintainer email="daniell@example.com">Daniell</maintainer>
+  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -12,6 +12,7 @@
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

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>
+        <webots>
-            <plugin filename="gz_ros2_control-system"
+            <plugin type="webots_ros2_control::Ros2Control"/>
-                    name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        </webots>
-                <parameters>$(find iiwa_config)/config/moveit/iiwa_controller.yaml</parameters>
-                <ros>
-                    <remapping>~/robot_description:=/robot_description</remapping>
-                </ros>
-            </plugin>
-        </gazebo>
 
         <ros2_control name="iiwaGazeboControl" type="system">
+
             <hardware>
-                <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+                <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
             </hardware>
 
             <joint name="joint1">

src/iiwa_planning/package.xml

@@ -3,15 +3,22 @@
 <package format="3">
   <name>iiwa_planning</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Планирование движения KUKA iiwa7: C++ и Python узлы на основе MoveIt 2 (OMPL, Pilz, moveit_py)</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  
+
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_planning</depend>
+  <depend>moveit_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>moveit_py</depend>
+  <depend>tf_transformations</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

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,
+        rviz=rviz
-        description=resolve_path(str(require(dt_raw, "description")), settings_dir),
     )
 
     # 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>