Изминения:

- В файле `webots_spawn.launch.py` - добавлено использование времени симуляции
- Добавлен новый пакет `iiwa_object_spawne`, который отвечает за появление объектов (в разработке)

README.md

@@ -22,10 +22,25 @@ sudo apt install -y build-essential \
                     python3-vcstool \
                     wget
 
+# Not Using
 git clone https://github.com/moveit/moveit2.git
 vcs import --recursive < moveit2/moveit2.repos
 sudo apt remove ros-$ROS_DISTRO-moveit*
 rosdep install -r --from-paths ./src/ --ignore-src --rosdistro $ROS_DISTRO --os=ubuntu:noble -y
 
 colcon build --mixin release
-```
+
+sudo pip3 install transforms3d --break-system-packages
+```
+
+Спавн объекта:
+```bash
+{
+    "data": "Solid { name \"test_box2\" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }"
+}
+```
+
+Спавн `.proto`:
+
+
+Можно заготовить готовые `.proto` файлы, и потом случайно спавнить объект по такому принципу + создать Node который будет вызываться и спавнить этот объекты. Может быть шаблон куда потом подставятся данные через `.format()`. По такому же принципу спавн человека. Остается понять, только задать область спавна относительно робта

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

@@ -33,7 +33,7 @@ def _spawn_setup(context, *args, **kwargs):
         parameters=[
             {
                 "robot_description": model_path,
-                "use_sim_time": False,
+                "use_sim_time": True,
                 "set_robot_state_publisher": False
             },
             LaunchConfiguration('controller').perform(context)

src/iiwa_object_spawner/LICENSE

@@ -0,0 +1,202 @@
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src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py

@@ -0,0 +1,74 @@
+# /Ros2Supervisor/spawn_node_from_string / webots_ros2_msgs/srv/SpawnNodeFromString
+# /Ros2Supervisor/spawn_urdf_robot
+
+
+import rclpy
+from random import randint
+from rclpy.node import Node
+from rclpy.task import Future
+from rclpy.executors import ExternalShutdownException
+from webots_ros2_msgs.srv import SpawnNodeFromString
+
+
+class ObjectSpawner(Node):
+    def __init__(self):
+        super().__init__("object_spawner")
+        # self._object_count: int = randint(1, 5)
+        self._object_count: int = 1
+        self._spawned_count: int = 0
+        self._call_in_progress: bool = False
+        
+
+        self.cli = self.create_client(SpawnNodeFromString, 
+                                      "/Ros2Supervisor/spawn_node_from_string")
+
+        while not self.cli.wait_for_service(timeout_sec=10):
+            self.get_logger().warning(
+                "service /Ros2Supervisor/spawn_node_from_string  not available, waiting again..."
+            )
+
+        self._timer = self.create_timer(0.1, self.timer_callback)
+
+    def timer_callback(self):
+        if self._spawned_count >= self._object_count:
+            self.get_logger().info(
+                f"All {self._object_count} objects spawned"
+            )
+            self._timer.cancel()
+            return
+        
+        if self._call_in_progress:
+            return
+        
+        data = "Solid { name \"test_box2\" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }"
+
+        req = SpawnNodeFromString.Request(data=data,
+                                          check_fields=True)
+        self.get_logger().info(
+            f"Calling spawn service #{self._spawned_count+1}/{self._object_count}"
+        )
+        self._call_in_progress = True
+        future = self.cli.call_async(req)
+        future.add_done_callback(self._response_callback)
+
+    def _response_callback(self, future: Future):
+        try:
+            response = future.result()
+            self.get_logger().info(f"Spawn service response: {response}")
+        except Exception as e:
+            self.get_logger().error(f"Service call field: {e}")
+        finally:
+            self._call_in_progress = False
+            self._spawned_count += 1
+
+
+def main(args=None):
+    try:
+        with rclpy.init(args=args):
+            node = ObjectSpawner()
+            rclpy.spin(node=node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+
+if __name__ == '__main__':
+    main()

src/iiwa_object_spawner/package.xml

@@ -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_object_spawner</name>
+  <version>0.0.1</version>
+  <description>TODO: Package description</description>
+  <maintainer email="grabardm@ml-dev.ru">Даниил Грабарь</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>

src/iiwa_object_spawner/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/iiwa_object_spawner
+[install]
+install_scripts=$base/lib/iiwa_object_spawner

src/iiwa_object_spawner/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'iiwa_object_spawner'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Даниил Грабарь',
+    maintainer_email='grabardm@ml-dev.ru',
+    description='TODO: Package description',
+    license='Apache-2.0',
+    entry_points={
+        'console_scripts': [
+            'object_spawner = iiwa_object_spawner.object_spawner:main'
+        ],
+    },
+)