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

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]