append spawn objects

src/iiwa_bringup/launch/supported/simulation_nodes.py

@@ -1,4 +1,5 @@
 import json
+from dataclasses import asdict
 
 from launch_ros.actions import Node
 from webots_ros2_driver.webots_controller import WebotsController
@@ -7,12 +8,23 @@ from iiwa_utils.camera_spawner import load_camera_config, build_ros_urdf  # type
 
 
 def make_simulation_nodes(settings) -> list:
-    """Возвращает ноды камер для симуляции: [camera_spawner, *camera_controllers].
-
-    Если камеры не заданы в настройках — возвращает пустой список.
-    """
+    """Create the configured object spawner and camera nodes for Webots."""
+    nodes = []
+    webots = settings.digital_twin.webots
+    if webots.objects.enabled and webots.objects.count:
+        nodes.append(Node(
+            package="iiwa_utils",
+            executable="object_spawner",
+            name="object_spawner",
+            output="screen",
+            parameters=[{
+                "objects_config": json.dumps(asdict(webots.objects)),
+                "robot_translation": webots.transform,
+                "robot_rotation": webots.rotation,
+            }],
+        ))
     if not settings.digital_twin.webots.cameras:
-        return []
+        return nodes
 
     camera_spawner = Node(
         package="iiwa_utils",
@@ -37,4 +49,4 @@ def make_simulation_nodes(settings) -> list:
             respawn=True,
         ))
 
-    return [camera_spawner, *camera_controllers]
+    return [*nodes, camera_spawner, *camera_controllers]