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Реализован спавн робота с контроллерами в виртуальной среде webots

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Даниил Грабарь
2025-11-21 13:49:04 +10:00
parent a24cc16e0a
commit 9918c2bfc6
44 changed files with 7264 additions and 10 deletions
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src/iiwa_description/urdf/iiwa7.urdf.xacro
+46
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@@ -6,5 +6,51 @@
<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
<webots>
<plugin type="webots_ros2_control::Ros2Control"/>
</webots>
<ros2_control name="iiwaWebotsControl" type="system">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
</hardware>
<joint name="joint1">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="joint2">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="joint3">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="joint4">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="joint5">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="joint6">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="joint7">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
</ros2_control>
</robot>