Создана базовая конфигурация робота

2025-11-20 14:23:10 +10:00
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+
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@@ -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: <Fixed 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: <Fixed 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: 000000ff00000000fd000000040000000000000156000003ccfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c000003cc000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003ccfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c000003cc000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000023200fffffffb0000000800540069006d006501000000000000045000000000000000000000050f000003cc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 0
@@ -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
+    ])
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>iiwa_bringup</name>
+  <version>0.0.1</version>
+  <description>TODO: Package description</description>
+  <maintainer email="grabardm@ml-dev.ru">Grabar Daniil</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/iiwa_bringup
+[install]
+install_scripts=$base/lib/iiwa_bringup
@@ -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': [
+        ],
+    },
+)