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

2026-06-03 13:24:08 +10:00
parent e9e3163ce6
commit 91eefe1eea
5 changed files with 199 additions and 191 deletions
@@ -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]