commit a24cc16e0a9aa9236f625257ff25e3c1549b966f Author: Даниил Грабарь Date: Thu Nov 20 14:23:10 2025 +1000 Создана базовая конфигурация робота diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..0922db8 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +log/ +install/ +build/ +.vscode +.idea diff --git a/src/iiwa_bringup/LICENSE b/src/iiwa_bringup/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/src/iiwa_bringup/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/iiwa_bringup/config/rviz_iiwa.rviz b/src/iiwa_bringup/config/rviz_iiwa.rviz new file mode 100644 index 0000000..c6b18a5 --- /dev/null +++ b/src/iiwa_bringup/config/rviz_iiwa.rviz @@ -0,0 +1,209 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Mass Properties1 + Splitter Ratio: 0.5 + Tree Height: 834 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.324988842010498 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7203982472419739 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.598599910736084 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1128 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 0 diff --git a/src/iiwa_bringup/launch/rviz_iiwa.launch.py b/src/iiwa_bringup/launch/rviz_iiwa.launch.py new file mode 100644 index 0000000..858d5fd --- /dev/null +++ b/src/iiwa_bringup/launch/rviz_iiwa.launch.py @@ -0,0 +1,71 @@ +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.substitutions import FindPackageShare +from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution + + +def generate_launch_description(): + package_name="iiwa_bringup" + description_package_name = "iiwa_description" + + declare_model_arg = DeclareLaunchArgument( + name="model", + default_value=PathJoinSubstitution([ + FindPackageShare(description_package_name), + "urdf", + "iiwa7.urdf.xacro" + ]), + description="Path to the robot URDF/Xacro file" + ) + + declare_robot_name_arg = DeclareLaunchArgument( + name="robot_name", + default_value="iiwa7", + description="Robot name fro the TF tree" + ) + + robot_description = Command([ + "xacro ", LaunchConfiguration('model'), + " robot_name:=", LaunchConfiguration("robot_name") + ]) + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[{ + "robot_description": robot_description, + "use_sim_time": False, + }] + ) + + joint_state_publisher_gui = Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + parameters=[{"use_sim_time": False}] + ) + + rviz_config = PathJoinSubstitution([ + FindPackageShare(package_name), + 'config', + 'rviz_iiwa.rviz' + ]) + + rviz = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config], + output='log' + ) + + return LaunchDescription([ + declare_model_arg, + declare_robot_name_arg, + robot_state_publisher, + joint_state_publisher_gui, + rviz + ]) \ No newline at end of file diff --git a/src/iiwa_bringup/package.xml b/src/iiwa_bringup/package.xml new file mode 100644 index 0000000..a11c4fd --- /dev/null +++ b/src/iiwa_bringup/package.xml @@ -0,0 +1,19 @@ + + + + iiwa_bringup + 0.0.1 + TODO: Package description + Grabar Daniil + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + ament_xmllint + python3-pytest + + + ament_python + + diff --git a/src/iiwa_bringup/setup.cfg b/src/iiwa_bringup/setup.cfg new file mode 100644 index 0000000..863ba40 --- /dev/null +++ b/src/iiwa_bringup/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/iiwa_bringup +[install] +install_scripts=$base/lib/iiwa_bringup diff --git a/src/iiwa_bringup/setup.py b/src/iiwa_bringup/setup.py new file mode 100644 index 0000000..58bb242 --- /dev/null +++ b/src/iiwa_bringup/setup.py @@ -0,0 +1,63 @@ +import os +from setuptools import find_packages, setup + +EXCLUDES = {'.DS_Store', 'Thumbs.db'} +EXCLUDE_DIRS = {'__pycache__', '.pytest_cache', '.git', '.idea'} + +def data_files_from_tree(src_dir: str, dst_root: str) -> list: + """ + Собирает data_files в формате, подходящем для setuptools. + Возвращает список пар (dst_path, [file1, file2, ...]). + """ + entries = [] + + for root, dirs, files in os.walk(src_dir): + # исключаем служебные директории + dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS] + + file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES] + if not file_list: + continue + + rel = os.path.relpath(root, src_dir) + dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root + entries.append((dst_dir, file_list)) + + return entries + +package_name = 'iiwa_bringup' + +launch_intsall_root = f"share/{package_name}/launch" +config_intsall_root = f"share/{package_name}/config" + + +data_files = [ + ('share/' + package_name, ['package.xml']), +] + +data_files += data_files_from_tree('launch', launch_intsall_root) +data_files += data_files_from_tree('config', config_intsall_root) + + + +setup( + name=package_name, + version='0.0.1', + packages=find_packages(exclude=['test']), + data_files=data_files, + install_requires=['setuptools'], + zip_safe=True, + maintainer='Grabar Daniil', + maintainer_email='grabardm@ml-dev.ru', + description='TODO: Package description', + license='Apache-2.0', + extras_require={ + 'test': [ + 'pytest', + ], + }, + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/src/iiwa_description/LICENSE b/src/iiwa_description/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/src/iiwa_description/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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29 29 29 0 0 0 1 1 1 4 4 4 2 2 2 3 3 3 5 5 5 2 2 2 4 4 4 8 8 8 2 2 2 5 5 5 8 8 8 6 6 6 2 2 2 8 8 8 7 7 7 6 6 6 9 9 9 7 7 7 8 8 8 11 11 11 7 7 7 9 9 9 11 11 11 10 10 10 7 7 7 14 14 14 10 10 10 11 11 11 14 14 14 12 12 12 10 10 10 14 14 14 13 13 13 12 12 12 15 15 15 13 13 13 14 14 14 17 17 17 13 13 13 15 15 15 17 17 17 16 16 16 13 13 13 19 19 19 16 16 16 17 17 17 19 19 19 18 18 18 16 16 16 21 21 21 18 18 18 19 19 19 21 21 21 20 20 20 18 18 18 23 23 23 20 20 20 21 21 21 23 23 23 22 22 22 20 20 20 25 25 25 22 22 22 23 23 23 25 25 25 24 24 24 22 22 22 27 27 27 24 24 24 25 25 25 27 27 27 26 26 26 24 24 24 0 0 0 26 26 26 27 27 27 0 0 0 28 28 28 26 26 26 0 0 0 29 29 29 28 28 28 40 40 40 30 30 30 31 31 31 36 36 36 32 32 32 33 33 33 36 36 36 34 34 34 32 32 32 36 36 36 35 35 35 34 34 34 37 37 37 35 35 35 36 36 36 38 38 38 35 35 35 37 37 37 39 39 39 35 35 35 38 38 38 41 41 41 35 35 35 39 39 39 41 41 41 40 40 40 35 35 35 42 42 42 40 40 40 41 41 41 43 43 43 40 40 40 42 42 42 44 44 44 40 40 40 43 43 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172 151 151 151 171 171 171 172 172 172 152 152 152 151 151 151 173 173 173 152 152 152 172 172 172 173 173 173 153 153 153 152 152 152 156 156 156 154 154 154 155 155 155 156 156 156 168 168 168 154 154 154 157 157 157 168 168 168 156 156 156 157 157 157 174 174 174 168 168 168 158 158 158 174 174 174 157 157 157 158 158 158 175 175 175 174 174 174 159 159 159 175 175 175 158 158 158 159 159 159 176 176 176 175 175 175 160 160 160 176 176 176 159 159 159 160 160 160 177 177 177 176 176 176 160 160 160 178 178 178 177 177 177 161 161 161 178 178 178 160 160 160 162 162 162 178 178 178 161 161 161 163 163 163 178 178 178 162 162 162 164 164 164 178 178 178 163 163 163 164 164 164 179 179 179 178 178 178 165 165 165 179 179 179 164 164 164 165 165 165 173 173 173 179 179 179 142 142 142 173 173 173 165 165 165 142 142 142 153 153 153 173 173 173 178 178 178 180 180 180 177 177 177 180 180 180 178 178 178 179 179 179 177 177 177 181 181 181 176 176 176 181 181 181 177 177 177 180 180 180 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68 68 68 0 0 0 1 1 1 3 3 3 2 2 2 131 131 131 4 4 4 2 2 2 3 3 3 5 5 5 2 2 2 4 4 4 6 6 6 2 2 2 5 5 5 7 7 7 2 2 2 6 6 6 102 102 102 2 2 2 7 7 7 9 9 9 8 8 8 47 47 47 87 87 87 8 8 8 9 9 9 12 12 12 10 10 10 11 11 11 13 13 13 10 10 10 12 12 12 15 15 15 10 10 10 13 13 13 15 15 15 14 14 14 10 10 10 17 17 17 14 14 14 15 15 15 17 17 17 16 16 16 14 14 14 19 19 19 16 16 16 17 17 17 19 19 19 18 18 18 16 16 16 21 21 21 18 18 18 19 19 19 21 21 21 20 20 20 18 18 18 23 23 23 20 20 20 21 21 21 23 23 23 22 22 22 20 20 20 25 25 25 22 22 22 23 23 23 25 25 25 24 24 24 22 22 22 58 58 58 24 24 24 25 25 25 58 58 58 26 26 26 24 24 24 31 31 31 27 27 27 28 28 28 31 31 31 29 29 29 27 27 27 31 31 31 30 30 30 29 29 29 33 33 33 30 30 30 31 31 31 33 33 33 32 32 32 30 30 30 35 35 35 32 32 32 33 33 33 35 35 35 34 34 34 32 32 32 37 37 37 34 34 34 35 35 35 37 37 37 36 36 36 34 34 34 39 39 39 36 36 36 37 37 37 39 39 39 38 38 38 36 36 36 41 41 41 38 38 38 39 39 39 41 41 41 40 40 40 38 38 38 43 43 43 40 40 40 41 41 41 43 43 43 42 42 42 40 40 40 45 45 45 42 42 42 43 43 43 45 45 45 44 44 44 42 42 42 118 118 118 44 44 44 45 45 45 47 47 47 46 46 46 9 9 9 125 125 125 46 46 46 47 47 47 59 59 59 48 48 48 49 49 49 135 135 135 50 50 50 51 51 51 117 117 117 52 52 52 53 53 53 55 55 55 54 54 54 139 139 139 74 74 74 54 54 54 55 55 55 100 100 100 56 56 56 57 57 57 87 87 87 58 58 58 8 8 8 128 128 128 48 48 48 59 59 59 46 46 46 95 95 95 60 60 60 92 92 92 61 61 61 62 62 62 61 61 61 63 63 63 64 64 64 67 67 67 65 65 65 66 66 66 69 69 69 65 65 65 67 67 67 69 69 69 68 68 68 65 65 65 71 71 71 69 69 69 70 70 70 83 83 83 69 69 69 71 71 71 123 123 123 72 72 72 73 73 73 78 78 78 74 74 74 75 75 75 78 78 78 54 54 54 74 74 74 78 78 78 76 76 76 54 54 54 78 78 78 77 77 77 76 76 76 113 113 113 77 77 77 78 78 78 113 113 113 79 79 79 77 77 77 113 113 113 80 80 80 79 79 79 113 113 113 81 81 81 80 80 80 113 113 113 82 82 82 81 81 81 84 84 84 69 69 69 83 83 83 85 85 85 69 69 69 84 84 84 86 86 86 69 69 69 85 85 85 141 141 141 69 69 69 86 86 86 89 89 89 58 58 58 87 87 87 89 89 89 26 26 26 58 58 58 89 89 89 88 88 88 26 26 26 63 63 63 88 88 88 89 89 89 63 63 63 90 90 90 88 88 88 61 61 61 90 90 90 63 63 63 92 92 92 90 90 90 61 61 61 92 92 92 91 91 91 90 90 90 93 93 93 91 91 91 92 92 92 60 60 60 91 91 91 93 93 93 60 60 60 94 94 94 91 91 91 95 95 95 94 94 94 60 60 60 97 97 97 94 94 94 95 95 95 97 97 97 96 96 96 94 94 94 56 56 56 96 96 96 97 97 97 56 56 56 98 98 98 96 96 96 100 100 100 98 98 98 56 56 56 100 100 100 99 99 99 98 98 98 2 2 2 99 99 99 100 100 100 2 2 2 101 101 101 99 99 99 102 102 102 101 101 101 2 2 2 103 103 103 101 101 101 102 102 102 104 104 104 101 101 101 103 103 103 106 106 106 101 101 101 104 104 104 106 106 106 105 105 105 101 101 101 108 108 108 105 105 105 106 106 106 108 108 108 107 107 107 105 105 105 110 110 110 107 107 107 108 108 108 110 110 110 109 109 109 107 107 107 111 111 111 109 109 109 110 110 110 82 82 82 109 109 109 111 111 111 113 113 113 109 109 109 82 82 82 113 113 113 112 112 112 109 109 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47 47 47 7 7 7 0 0 0 3 3 3 1 1 1 2 2 2 4 4 4 1 1 1 3 3 3 6 6 6 1 1 1 4 4 4 6 6 6 5 5 5 1 1 1 0 0 0 5 5 5 6 6 6 0 0 0 7 7 7 5 5 5 11 11 11 8 8 8 9 9 9 11 11 11 10 10 10 8 8 8 14 14 14 10 10 10 11 11 11 14 14 14 12 12 12 10 10 10 14 14 14 13 13 13 12 12 12 15 15 15 13 13 13 14 14 14 17 17 17 13 13 13 15 15 15 17 17 17 16 16 16 13 13 13 19 19 19 16 16 16 17 17 17 19 19 19 18 18 18 16 16 16 21 21 21 18 18 18 19 19 19 21 21 21 20 20 20 18 18 18 24 24 24 20 20 20 21 21 21 24 24 24 22 22 22 20 20 20 24 24 24 23 23 23 22 22 22 25 25 25 23 23 23 24 24 24 27 27 27 23 23 23 25 25 25 27 27 27 26 26 26 23 23 23 30 30 30 26 26 26 27 27 27 30 30 30 28 28 28 26 26 26 30 30 30 29 29 29 28 28 28 31 31 31 29 29 29 30 30 30 34 34 34 29 29 29 31 31 31 34 34 34 32 32 32 29 29 29 34 34 34 33 33 33 32 32 32 35 35 35 33 33 33 34 34 34 37 37 37 33 33 33 35 35 35 37 37 37 36 36 36 33 33 33 40 40 40 36 36 36 37 37 37 40 40 40 38 38 38 36 36 36 40 40 40 39 39 39 38 38 38 41 41 41 39 39 39 40 40 40 44 44 44 39 39 39 41 41 41 44 44 44 42 42 42 39 39 39 44 44 44 43 43 43 42 42 42 46 46 46 43 43 43 44 44 44 46 46 46 45 45 45 43 43 43 48 48 48 45 45 45 46 46 46 48 48 48 47 47 47 45 45 45 49 49 49 47 47 47 48 48 48 7 7 7 47 47 47 49 49 49 79 79 79 50 50 50 51 51 51 54 54 54 52 52 52 53 53 53 55 55 55 52 52 52 54 54 54 72 72 72 52 52 52 55 55 55 72 72 72 56 56 56 52 52 52 72 72 72 57 57 57 56 56 56 72 72 72 58 58 58 57 57 57 72 72 72 59 59 59 58 58 58 72 72 72 60 60 60 59 59 59 72 72 72 61 61 61 60 60 60 72 72 72 62 62 62 61 61 61 72 72 72 63 63 63 62 62 62 72 72 72 64 64 64 63 63 63 72 72 72 65 65 65 64 64 64 72 72 72 66 66 66 65 65 65 72 72 72 67 67 67 66 66 66 72 72 72 68 68 68 67 67 67 72 72 72 69 69 69 68 68 68 72 72 72 70 70 70 69 69 69 72 72 72 71 71 71 70 70 70 73 73 73 71 71 71 72 72 72 74 74 74 71 71 71 73 73 73 75 75 75 71 71 71 74 74 74 76 76 76 71 71 71 75 75 75 77 77 77 71 71 71 76 76 76 78 78 78 71 71 71 77 77 77 80 80 80 71 71 71 78 78 78 80 80 80 79 79 79 71 71 71 81 81 81 79 79 79 80 80 80 82 82 82 79 79 79 81 81 81 83 83 83 79 79 79 82 82 82 84 84 84 79 79 79 83 83 83 85 85 85 79 79 79 84 84 84 86 86 86 79 79 79 85 85 85 87 87 87 79 79 79 86 86 86 88 88 88 79 79 79 87 87 87 89 89 89 79 79 79 88 88 88 50 50 50 79 79 79 89 89 89 145 145 145 90 90 90 91 91 91 94 94 94 92 92 92 93 93 93 95 95 95 92 92 92 94 94 94 97 97 97 92 92 92 95 95 95 97 97 97 96 96 96 92 92 92 99 99 99 96 96 96 97 97 97 99 99 99 98 98 98 96 96 96 100 100 100 98 98 98 99 99 99 102 102 102 98 98 98 100 100 100 102 102 102 101 101 101 98 98 98 104 104 104 101 101 101 102 102 102 104 104 104 103 103 103 101 101 101 106 106 106 103 103 103 104 104 104 106 106 106 105 105 105 103 103 103 108 108 108 105 105 105 106 106 106 108 108 108 107 107 107 105 105 105 110 110 110 107 107 107 108 108 108 110 110 110 109 109 109 107 107 107 111 111 111 109 109 109 110 110 110 113 113 113 109 109 109 111 111 111 113 113 113 112 112 112 109 109 109 115 115 115 112 112 112 113 113 113 115 115 115 114 114 114 112 112 112 117 117 117 114 114 114 115 115 115 117 117 117 116 116 116 114 114 114 119 119 119 116 116 116 117 117 117 119 119 119 118 118 118 116 116 116 120 120 120 118 118 118 119 119 119 122 122 122 118 118 118 120 120 120 122 122 122 121 121 121 118 118 118 124 124 124 121 121 121 122 122 122 124 124 124 123 123 123 121 121 121 126 126 126 123 123 123 124 124 124 126 126 126 125 125 125 123 123 123 128 128 128 125 125 125 126 126 126 128 128 128 127 127 127 125 125 125 130 130 130 127 127 127 128 128 128 130 130 130 129 129 129 127 127 127 131 131 131 129 129 129 130 130 130 133 133 133 129 129 129 131 131 131 133 133 133 132 132 132 129 129 129 135 135 135 132 132 132 133 133 133 135 135 135 134 134 134 132 132 132 137 137 137 134 134 134 135 135 135 137 137 137 136 136 136 134 134 134 139 139 139 136 136 136 137 137 137 139 139 139 138 138 138 136 136 136 141 141 141 138 138 138 139 139 139 141 141 141 140 140 140 138 138 138 142 142 142 140 140 140 141 141 141 144 144 144 140 140 140 142 142 142 144 144 144 143 143 143 140 140 140 90 90 90 143 143 143 144 144 144 90 90 90 145 145 145 143 143 143

+ + + + + + + + + 0 0 0 + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + 1 + 1 + 1 + 1 + + + + + + 1 + 1 + 1 + 1 + + + + + + 1 + 1 + 1 + 1 + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/package.xml b/src/iiwa_description/package.xml new file mode 100644 index 0000000..cb68974 --- /dev/null +++ b/src/iiwa_description/package.xml @@ -0,0 +1,19 @@ + + + + iiwa_description + 0.0.1 + TODO: Package description + Grabar Daniil + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + ament_xmllint + python3-pytest + + + ament_python + + diff --git a/src/iiwa_description/setup.cfg b/src/iiwa_description/setup.cfg new file mode 100644 index 0000000..669d2c3 --- /dev/null +++ b/src/iiwa_description/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/iiwa_description +[install] +install_scripts=$base/lib/iiwa_description diff --git a/src/iiwa_description/setup.py b/src/iiwa_description/setup.py new file mode 100644 index 0000000..b78e23e --- /dev/null +++ b/src/iiwa_description/setup.py @@ -0,0 +1,61 @@ +import os +from setuptools import find_packages, setup + +EXCLUDES = {'.DS_Store', 'Thumbs.db'} +EXCLUDE_DIRS = {'__pycache__', '.pytest_cache', '.git', '.idea'} + +def data_files_from_tree(src_dir: str, dst_root: str) -> list: + """ + Собирает data_files в формате, подходящем для setuptools. + Возвращает список пар (dst_path, [file1, file2, ...]). + """ + entries = [] + + for root, dirs, files in os.walk(src_dir): + # исключаем служебные директории + dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS] + + file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES] + if not file_list: + continue + + rel = os.path.relpath(root, src_dir) + dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root + entries.append((dst_dir, file_list)) + + return entries + +package_name = 'iiwa_description' + +meshes_intsall_root = f"share/{package_name}/meshes" +urdf_intsall_root = f"share/{package_name}/urdf" + +data_files = [ + ('share/' + package_name, ['package.xml']), +] + +data_files += data_files_from_tree('meshes', meshes_intsall_root) +data_files += data_files_from_tree('urdf', urdf_intsall_root) + + +setup( + name=package_name, + version='0.0.1', + packages=find_packages(exclude=['test']), + data_files=data_files, + install_requires=['setuptools'], + zip_safe=True, + maintainer='Grabar Daniil', + maintainer_email='grabardm@ml-dev.ru', + description='TODO: Package description', + license='Apache-2.0', + extras_require={ + 'test': [ + 'pytest', + ], + }, + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7.urdf.xacro new file mode 100644 index 0000000..6abc628 --- /dev/null +++ b/src/iiwa_description/urdf/iiwa7.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/urdf/joints.xacro b/src/iiwa_description/urdf/joints.xacro new file mode 100644 index 0000000..96a0289 --- /dev/null +++ b/src/iiwa_description/urdf/joints.xacro @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/urdf/links.xacro b/src/iiwa_description/urdf/links.xacro new file mode 100644 index 0000000..ae4b4a3 --- /dev/null +++ b/src/iiwa_description/urdf/links.xacro @@ -0,0 +1,106 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/urdf/macros.xacro b/src/iiwa_description/urdf/macros.xacro new file mode 100644 index 0000000..ad86164 --- /dev/null +++ b/src/iiwa_description/urdf/macros.xacro @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/urdf/meshes.xacro b/src/iiwa_description/urdf/meshes.xacro new file mode 100644 index 0000000..f58d5d2 --- /dev/null +++ b/src/iiwa_description/urdf/meshes.xacro @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/iiwa_description/urdf/params.xacro b/src/iiwa_description/urdf/params.xacro new file mode 100644 index 0000000..0ed46e8 --- /dev/null +++ b/src/iiwa_description/urdf/params.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file