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Add robot setup command and configuration management for cobot-setting.yaml

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This commit is contained in:
Даниил Грабарь
2026-05-20 14:43:20 +10:00
parent dedf3e3467
commit 86e6e801e9
7 changed files with 435 additions and 6 deletions
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cobot-setting.yaml
+73
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@@ -0,0 +1,73 @@
robot:
name: "iiwa7"
ip: "192.170.10.10"
port: 30200
command_mode: "position" # torque, position
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
joint_position_tau: 0.04 # EMA фильтр позиций [с]: сглаживает команды перед отправкой в FRI
joint_velocity_tau: 0.01 # EMA фильтр скорости [с]: убирает выбросы конечных разностей
active_controller: "jtc" # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
digital_twin:
webots:
world: pkg://iiwa_description/worlds/iiwa.wbt
# world: pkg://iiwa_description/worlds/simple_world.wbt
transform: "-0.25 0 0.79"
rotation: "0 0 1 0"
controller_timer: "50"
cameras:
- pkg://iiwa_config/config/cameras/d455_top.yaml
rviz:
config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
controller:
controller_path: pkg://iiwa_config/config/moveit/iiwa_controller.yaml
moveit:
srdf: pkg://iiwa_config/config/moveit/iiwa7.srdf
kinematics: pkg://iiwa_config/config/moveit/kinematics.yaml
joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
pilz_limits: pkg://iiwa_config/config/moveit/pilz_cartesian_limits.yaml
initial_positions: pkg://iiwa_config/config/moveit/initial_positions.yaml
moveit_controllers: pkg://iiwa_config/config/moveit/moveit_controllers.yaml
moveit_cpp: pkg://iiwa_config/config/moveit/moveit_cpp.yaml
planning:
pose_link: "tcp" # TCP-линк для декартовых целей
planning_group: "iiwa_arm" # Группа планирования из SRDF
default_frame: "base_link" # Система отсчёта по умолчанию
default_planner: "ompl" # Планировщик по умолчанию
planning_attempts: 3 # Число попыток планирования
foxglove:
enabled: true # Запускать ли foxglove_bridge вместе с роботом
port: 8765 # WebSocket-порт, к которому подключается Foxglove Studio (по умолчанию 8765)
debug: false # Включить подробное логирование bridge-процесса
address: 0.0.0.0 # Адрес, на котором слушает сервер. 0.0.0.0 — все интерфейсы, 127.0.0.1 — только локально
tls: false # Включить TLS-шифрование соединения (нужны certfile + keyfile)
certfile: "" # Путь к SSL-сертификату (нужен только при tls: true)Путь к SSL-сертификату (нужен только при tls: true)
keyfile: "" # Путь к SSL-сертификату (нужен только при tls: true)
topic_whitelist: ['.*'] # Regex-список топиков, которые bridge публикует клиенту
param_whitelist: ['.*'] # Regex-список ROS-параметров, видимых клиенту
service_whitelist: ['.*'] # Regex-список сервисов, доступных клиенту
client_topic_whitelist: ['.*'] # Regex-список топиков, в которые клиент может публиковать (clientPublish)
min_qos_depth: 1 # Минимальная глубина QoS-очереди при подписке bridge на топик
max_qos_depth: 10 # Максимальная глубина QoS-очереди
num_threads: 0 # Число потоков исполнения. 0 = автоматически по числу CPU
send_buffer_limit: 10000000 # Максимальный размер буфера отправки в байтах (защита от OOM при медленном клиенте)
use_sim_time: false # Использовать симуляционное время /clock вместо системного
capabilities: # Список возможностей, открытых клиенту
- clientPublish
- parameters
- parametersSubscribe
- services
- connectionGraph
- assets
include_hidden: false # Показывать клиенту скрытые топики и сервисы (начинаются с _)
asset_uri_allowlist: ['^package://(?:[-\w%]+/)*[-\w%.]+\.(?:dae|fbx|glb|gltf|jpeg|jpg|mtl|obj|png|stl|tif|tiff|urdf|webp|xacro)$'] # Regex-список URI вида package://..., из которых bridge разрешает отдавать файлы-ассеты (URDF, mesh и т.п.)
ignore_unresponsive_param_nodes: true # Не падать, если нода не отвечает на запросы параметров (защита от зависания при старте)
cobot/cli.py
+48 -2
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@@ -1,17 +1,62 @@
import argparse
import importlib
import sys
from cobot.commands import docker_setup as cmd_docker_setup
from cobot.commands import doc_setup as cmd_doc_setup
from cobot.commands import robot_setup as cmd_robot_setup
from cobot.commands import setup as cmd_setup
# Command groups shown in --help output.
# Add new commands here when introducing other categories.
_GROUPS = [
("Setup", [
("setup", "run doc-setup + docker-setup + robot-setup in one go"),
("docker-setup", "build or pull Docker images for KUKA iiwa7"),
("doc-setup", "deploy or stop the MkDocs documentation server"),
("robot-setup", "configure cobot-setting.yaml interactively"),
]),
]
_DESCRIPTION = "Lightweight Cobot"
class _GroupedHelpAction(argparse.Action):
def __init__(self, option_strings, dest, default=None, required=False, help=None):
super().__init__(
option_strings=option_strings,
dest=dest,
nargs=0,
default=default,
required=required,
help=help,
)
def __call__(self, parser, namespace, values, option_string=None):
print(f"usage: cobot [-h] <command> ...\n")
print(f"{_DESCRIPTION}\n")
for group_title, commands in _GROUPS:
print(f"{group_title} commands:")
for cmd, help_text in commands:
print(f" {cmd:<22} {help_text}")
print()
print("options:")
print(" -h, --help show this help message and exit")
parser.exit()
def main():
parser = argparse.ArgumentParser(
prog="cobot",
description="Lightweight Cobot - Cobot ROS2 Control Framework",
description=_DESCRIPTION,
add_help=False,
)
parser.add_argument(
"-h", "--help",
action=_GroupedHelpAction,
default=argparse.SUPPRESS,
help="show this help message and exit",
)
subparsers = parser.add_subparsers(dest="command", metavar="<command>")
subparsers.required = True
@@ -25,3 +70,4 @@ def _register_commands(subparsers):
cmd_setup.register(subparsers)
cmd_docker_setup.register(subparsers)
cmd_doc_setup.register(subparsers)
cmd_robot_setup.register(subparsers)
cobot/commands/robot_setup.py
+290
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@@ -0,0 +1,290 @@
from __future__ import annotations
import argparse
import sys
from dataclasses import dataclass, field
from pathlib import Path
from typing import Any, Callable, List, Optional, Tuple
from rich.console import Console
from ruamel.yaml import YAML
from textual.app import App
from cobot.tui import SCREEN_CSS, InputScreen, PickScreen
_console = Console()
_PROJECT_DIR = Path(__file__).parent.parent.parent
_CONFIG_PATH = _PROJECT_DIR / "cobot-setting.yaml"
_yaml = YAML()
_yaml.preserve_quotes = True
# ---------------------------------------------------------------------------
# Field descriptors
# ---------------------------------------------------------------------------
@dataclass
class _Field:
key: str # dot-separated path within the block, e.g. "webots.world"
question: str
default: Any
note: str = ""
options: Optional[List[str]] = None # if set → PickScreen, else → InputScreen
def label(self) -> str:
return self.key.split(".")[-1]
@dataclass
class _Block:
yaml_key: str # top-level key in cobot-setting.yaml
title: str # shown in "Configure <title>?" prompt
fields: List[_Field]
# ---------------------------------------------------------------------------
# Block definitions — bottom to top order
# ---------------------------------------------------------------------------
_BLOCKS: List[_Block] = [
_Block(
yaml_key="foxglove",
title="Foxglove bridge",
fields=[
_Field("enabled", "Enable Foxglove bridge?", "true",
note="Start foxglove_bridge alongside the robot node",
options=["true", "false"]),
_Field("port", "WebSocket port:", "8765",
note="Port Foxglove Studio connects to (default 8765)"),
_Field("address", "Listen address:", "0.0.0.0",
note="0.0.0.0 = all interfaces, 127.0.0.1 = localhost only",
options=["0.0.0.0", "127.0.0.1"]),
_Field("use_sim_time", "Use simulation time (/clock)?", "false",
note="Subscribe to /clock instead of using wall time",
options=["false", "true"]),
_Field("debug", "Enable verbose bridge logging?", "false",
options=["false", "true"]),
_Field("num_threads", "Executor threads (0 = auto):", "0"),
],
),
_Block(
yaml_key="planning",
title="MoveIt planning",
fields=[
_Field("pose_link", "TCP link name:", "tcp",
note="Link used as the end-effector for Cartesian goals (defined in URDF/SRDF)"),
_Field("planning_group", "Planning group:", "iiwa_arm",
note="MoveIt planning group as defined in the SRDF"),
_Field("default_frame", "Default reference frame:", "base_link"),
_Field("default_planner", "Default planner:", "ompl",
options=["ompl", "pilz_industrial_motion_planner", "chomp"]),
_Field("planning_attempts", "Planning attempts:", "3"),
],
),
_Block(
yaml_key="digital_twin",
title="Digital twin (Webots / RViz)",
fields=[
_Field("webots.transform", "Robot transform in Webots scene (x y z, metres):", "-0.25 0 0.79"),
_Field("webots.rotation", "Robot rotation in Webots scene (ax ay az angle):", "0 0 1 0"),
_Field("webots.controller_timer", "Webots controller step timer (ms):", "50"),
],
),
_Block(
yaml_key="robot",
title="Robot connection",
fields=[
_Field("name", "Robot model name:", "iiwa7"),
_Field("ip", "Robot IP address:", "192.170.10.2",
note="IP of the KUKA controller on the FRI network interface"),
_Field("port", "FRI port:", "30200"),
_Field("command_mode", "Command mode:", "position",
note="position = joint position control, torque = joint torque control",
options=["position", "torque"]),
_Field("fri_cycle_ms", "FRI cycle time (ms):", "10",
note="5 ms = 200 Hz, 10 ms = 100 Hz",
options=["10", "5"]),
_Field("active_controller", "Active ROS controller:", "jtc",
note="jtc = JointTrajectoryController (MoveIt), forward = ForwardCommandController",
options=["jtc", "forward"]),
_Field("joint_position_tau", "Position EMA filter τ (s):", "0.04",
note="Smooths position commands before sending to FRI"),
_Field("joint_velocity_tau", "Velocity EMA filter τ (s):", "0.01",
note="Removes spikes from finite-difference velocity estimation"),
],
),
]
# ---------------------------------------------------------------------------
# Wizard app
# ---------------------------------------------------------------------------
def _coerce(value: str, original: Any) -> Any:
"""Try to preserve the original YAML scalar type."""
if isinstance(original, bool):
return value.lower() == "true"
if isinstance(original, int):
try:
return int(value)
except ValueError:
return value
if isinstance(original, float):
try:
return float(value)
except ValueError:
return value
return value
def _get_nested(mapping: Any, path: str) -> Any:
keys = path.split(".")
cur = mapping
for k in keys:
if cur is None or k not in cur:
return None
cur = cur[k]
return cur
def _set_nested(mapping: Any, path: str, value: Any) -> None:
keys = path.split(".")
cur = mapping
for k in keys[:-1]:
cur = cur[k]
original = cur[keys[-1]]
cur[keys[-1]] = _coerce(value, original)
class _Wizard(App[bool]):
CSS = SCREEN_CSS
def __init__(self, data: Any):
super().__init__()
self._data = data
self._blocks = list(_BLOCKS) # copy so we can pop
self._block_idx = 0
self._field_idx = 0
self._current_block: Optional[_Block] = None
self._pending_fields: List[_Field] = []
def on_mount(self) -> None:
self._next_block()
# ------------------------------------------------------------------
# Block-level flow
# ------------------------------------------------------------------
def _next_block(self) -> None:
if self._block_idx >= len(self._blocks):
self.exit(True)
return
block = self._blocks[self._block_idx]
total = len(self._blocks)
step = f"Block {self._block_idx + 1} of {total}"
self.push_screen(
PickScreen(
step,
f"Configure {block.title}?",
["Yes", "No"],
"Yes",
),
lambda v: self._got_block_choice(v, block),
)
def _got_block_choice(self, v: Optional[str], block: _Block) -> None:
if v is None:
self.exit(False)
return
self._block_idx += 1
if v == "Yes":
self._current_block = block
self._pending_fields = list(block.fields)
self._field_idx = 0
self._next_field()
else:
self._next_block()
# ------------------------------------------------------------------
# Field-level flow
# ------------------------------------------------------------------
def _next_field(self) -> None:
if not self._pending_fields:
self._next_block()
return
f = self._pending_fields[0]
block = self._current_block
total_blocks = len(self._blocks)
block_num = self._block_idx # already incremented
self._field_idx += 1
field_num = self._field_idx
total_fields = len(block.fields)
step = f"Block {block_num} of {total_blocks} · Field {field_num} of {total_fields}"
# Resolve current value from loaded YAML as the pre-filled default
yaml_val = _get_nested(self._data[block.yaml_key], f.key)
current = str(yaml_val) if yaml_val is not None else f.default
if f.options:
# Make the current value the default selection
default_opt = current if current in f.options else f.options[0]
screen = PickScreen(step, f.question, f.options, default_opt, note=f.note)
else:
screen = InputScreen(step, f.question, current, note=f.note)
self.push_screen(screen, lambda v, _f=f: self._got_field(v, _f))
def _got_field(self, v: Optional[str], f: _Field) -> None:
if v is None:
self.exit(False)
return
block = self._current_block
_set_nested(self._data[block.yaml_key], f.key, v)
self._pending_fields.pop(0)
self._next_field()
# ---------------------------------------------------------------------------
# YAML read / write
# ---------------------------------------------------------------------------
def _load_config() -> Any:
with open(_CONFIG_PATH, "r", encoding="utf-8") as fh:
return _yaml.load(fh)
def _save_config(data: Any) -> None:
with open(_CONFIG_PATH, "w", encoding="utf-8") as fh:
_yaml.dump(data, fh)
# ---------------------------------------------------------------------------
# CLI entry points
# ---------------------------------------------------------------------------
def register(subparsers: argparse._SubParsersAction) -> None:
p = subparsers.add_parser("robot-setup", help="Configure cobot-setting.yaml interactively")
p.set_defaults(func=run)
def run(args: argparse.Namespace) -> None:
if not _CONFIG_PATH.exists():
_console.print(f"[red]Config not found:[/red] {_CONFIG_PATH}")
sys.exit(1)
data = _load_config()
ok = _Wizard(data).run()
if not ok:
_console.print("[yellow]Setup cancelled.[/yellow]")
return
_save_config(data)
_console.print(f"\n[green]Configuration saved:[/green] {_CONFIG_PATH}")
_console.print(
" Start the robot container with: [bold]cobot robot-setup[/bold] "
"then run [bold]./docker/jazzy/ros-iiwa7-webots/run.sh[/bold]"
)
cobot/commands/setup.py
+2
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@@ -2,6 +2,7 @@ import argparse
from cobot.commands.doc_setup import run as _doc_setup
from cobot.commands.docker_setup import run as _docker_setup
from cobot.commands.robot_setup import run as _robot_setup
def register(subparsers):
@@ -12,3 +13,4 @@ def register(subparsers):
def run(args: argparse.Namespace) -> None:
_doc_setup(args)
_docker_setup(args)
_robot_setup(args)
cobot/tui.py
+13 -2
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@@ -22,6 +22,11 @@ Screen {
margin-top: 1;
margin-bottom: 1;
}
#note {
color: $text-muted;
text-style: dim;
margin-bottom: 1;
}
RadioSet {
height: auto;
border: none;
@@ -40,16 +45,19 @@ class PickScreen(Screen[Optional[str]]):
Binding("escape", "abort", "Cancel"),
]
def __init__(self, step: str, question: str, options: List[str], default: str):
def __init__(self, step: str, question: str, options: List[str], default: str, note: str = ""):
super().__init__()
self._step = step
self._question = question
self._options = options
self._default = default
self._note = note
def compose(self) -> ComposeResult:
yield Static(self._step, id="step")
yield Static(self._question, id="question")
if self._note:
yield Static(self._note, id="note")
with RadioSet(id="choices"):
for opt in self._options:
yield RadioButton(opt, value=(opt == self._default))
@@ -72,15 +80,18 @@ class InputScreen(Screen[Optional[str]]):
Binding("escape", "abort", "Cancel"),
]
def __init__(self, step: str, question: str, default: str):
def __init__(self, step: str, question: str, default: str, note: str = ""):
super().__init__()
self._step = step
self._question = question
self._default = default
self._note = note
def compose(self) -> ComposeResult:
yield Static(self._step, id="step")
yield Static(self._question, id="question")
if self._note:
yield Static(self._note, id="note")
yield Input(id="value", value=self._default)
yield Footer()
docker/jazzy/ros-iiwa7-webots/run.sh
+7 -1
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@@ -12,9 +12,14 @@
set -e
IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy}"
IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy-dev}"
GPU_MODE="software"
# Resolve the project root (two levels above this script: docker/jazzy/ros-iiwa7-webots → project root)
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../.." && pwd)"
CONFIG_FILE="${PROJECT_ROOT}/cobot-setting.yaml"
# Parse --gpu flag
if [[ "${1}" == "--gpu" ]]; then
GPU_MODE="${2:?--gpu requires an argument: nvidia|mesa|software}"
@@ -58,5 +63,6 @@ docker run -it --rm \
-e QT_X11_NO_MITSHM=1 \
"${RENDER_FLAGS[@]}" \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
${CONFIG_FILE:+-v "${CONFIG_FILE}:/ros2_ws/cobot-setting.yaml:ro"} \
"${IMAGE}" \
"$@"
setup.py
+2 -1
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@@ -3,11 +3,12 @@ from setuptools import setup, find_packages
setup(
name="lightweight-cobot",
version="0.1.0",
description="Lightweight Cobot — KUKA iiwa7 ROS2 Control Framework",
description="Lightweight Cobot",
packages=find_packages(),
python_requires=">=3.11",
install_requires=[
"textual",
"ruamel.yaml",
],
entry_points={
"console_scripts": [