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

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]