feat: refactor launch files to modularize node creation and improve simulation support

src/iiwa_bringup/launch/supported/moveit_nodes.py

@@ -0,0 +1,53 @@
+from launch_ros.actions import Node
+from moveit_configs_utils import MoveItConfigsBuilder
+
+
+def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
+    """Возвращает (moveit_configs, [move_group, move_to_pose_server])."""
+    moveit_configs = (
+        MoveItConfigsBuilder("iiwa7", package_name="iiwa_config")
+        .robot_description(
+            file_path=settings.robot.description,
+            mappings={
+                "initial_positions_file": settings.controller.moveit.initial_positions
+            },
+        )
+        .robot_description_semantic(file_path=settings.controller.moveit.srdf)
+        .robot_description_kinematics(file_path=settings.controller.moveit.kinematics)
+        .joint_limits(file_path=settings.controller.moveit.joint_limits)
+        .pilz_cartesian_limits(file_path=settings.controller.moveit.pilz_limits)
+        .trajectory_execution(file_path=settings.controller.moveit.moveit_controllers)
+        .moveit_cpp(file_path=settings.controller.moveit.moveit_cpp)
+        .to_moveit_configs()
+    )
+
+    common_params = [
+        moveit_configs.to_dict(),
+        {"robot_description": robot_description},
+        {"use_sim_time": use_sim_time},
+    ]
+
+    move_group = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        output="screen",
+        parameters=common_params,
+    )
+
+    move_to_pose_server = Node(
+        package="iiwa_planning",
+        executable="move_to_pose_server",
+        output="screen",
+        parameters=[
+            *common_params,
+            {
+                "pose_link": settings.planning.pose_link,
+                "planning_group": settings.planning.planning_group,
+                "default_frame": settings.planning.default_frame,
+                "default_planner": settings.planning.default_planner,
+                "planning_attempts": settings.planning.planning_attempts,
+            },
+        ],
+    )
+
+    return moveit_configs, [move_group, move_to_pose_server]

src/iiwa_bringup/launch/supported/optional_nodes.py

@@ -0,0 +1,33 @@
+from dataclasses import asdict
+
+from launch_ros.actions import Node
+
+
+def make_foxglove_node(settings, use_sim_time: bool) -> Node:
+    params = asdict(settings.foxglove)
+    params.pop("enabled")
+    params["use_sim_time"] = use_sim_time
+
+    return Node(
+        package="foxglove_bridge",
+        executable="foxglove_bridge",
+        output="screen",
+        name="foxglove_bridge",
+        parameters=[params],
+    )
+
+
+def make_web_server_node(settings, use_sim_time: bool) -> Node:
+    return Node(
+        package="iiwa_web",
+        executable="iiwa_web_server",
+        output="screen",
+        name="iiwa_web_server",
+        parameters=[{
+            "host": settings.web.host,
+            "port": settings.web.port,
+            "endpoints_path": settings.web.endpoints,
+            "joint_limits_path": settings.web.joint_limits,
+            "use_sim_time": use_sim_time,
+        }],
+    )

src/iiwa_bringup/launch/supported/rviz_nodes.py

@@ -0,0 +1,35 @@
+from launch.actions import EmitEvent, RegisterEventHandler
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def make_rviz_nodes(settings, moveit_configs, joint_limits_ros2, kinematics_ros2, use_sim_time: bool):
+    """Возвращает [rviz_launch, shutdown_on_rviz_exit]."""
+    rviz_launch = Node(
+        condition=IfCondition(LaunchConfiguration("rviz")),
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=["-d", settings.digital_twin.rviz.config],
+        output="log",
+        parameters=[
+            moveit_configs.robot_description,
+            moveit_configs.robot_description_semantic,
+            moveit_configs.planning_pipelines,
+            joint_limits_ros2,
+            kinematics_ros2,
+            {"use_sim_time": use_sim_time},
+        ],
+    )
+
+    shutdown_on_rviz_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=rviz_launch,
+            on_exit=[EmitEvent(event=Shutdown())],
+        )
+    )
+
+    return [rviz_launch, shutdown_on_rviz_exit]

src/iiwa_bringup/launch/supported/simulation_nodes.py

@@ -0,0 +1,40 @@
+import json
+
+from launch_ros.actions import Node
+from webots_ros2_driver.webots_controller import WebotsController
+
+from iiwa_utils.camera_spawner import load_camera_config, build_ros_urdf  # type: ignore
+
+
+def make_simulation_nodes(settings) -> list:
+    """Возвращает ноды камер для симуляции: [camera_spawner, *camera_controllers].
+
+    Если камеры не заданы в настройках — возвращает пустой список.
+    """
+    if not settings.digital_twin.webots.cameras:
+        return []
+
+    camera_spawner = Node(
+        package="iiwa_utils",
+        executable="camera_spawner",
+        name="camera_spawner",
+        output="screen",
+        parameters=[{
+            "camera_configs": json.dumps(settings.digital_twin.webots.cameras)
+        }],
+    )
+
+    camera_controllers = []
+    for cam_path in settings.digital_twin.webots.cameras:
+        cam_cfg = load_camera_config(cam_path)
+        camera_controllers.append(WebotsController(
+            robot_name=f"{cam_cfg.name}_robot",
+            parameters=[{
+                "robot_description": build_ros_urdf(cam_cfg),
+                "use_sim_time": True,
+                "set_robot_state_publisher": False,
+            }],
+            respawn=True,
+        ))
+
+    return [camera_spawner, *camera_controllers]