Add camera spawning functionality and update world configuration

2026-04-13 17:37:24 +03:00
parent 2dfa8f1c94
commit cd450a3476
7 changed files with 118 additions and 32 deletions
@@ -0,0 +1,4 @@
+# Пример использования параметров камеры
+name: D455_TOP
+translation: "-0.25 0 0.79"
+rotation: "0 0 1 0"
@@ -1,29 +0,0 @@
-# Формат каждой записи:
-#   ros_topic_name: имя топика в ROS2
-#   gz_topic_name:  имя топика в Gazebo (можно опустить если совпадает)
-#   ros_type_name:  тип сообщения ROS2
-#   gz_type_name:   тип сообщения Gazebo
-#   direction:      GZ_TO_ROS / ROS_TO_GZ / BIDIRECTIONAL
-
- ros_topic_name: /clock
-  gz_topic_name: /clock
-  ros_type_name: rosgraph_msgs/msg/Clock
-  gz_type_name: gz.msgs.Clock
-  direction: GZ_TO_ROS
-  lazy: false 
-
-# Состояния джойнтов из Gazebo в ROS2
- ros_topic_name: /joint_states
-  gz_topic_name: /world/empty/model/iiwa7/joint_state
-  ros_type_name: sensor_msgs/msg/JointState
-  gz_type_name: gz.msgs.Model
-  direction: GZ_TO_ROS
-  lazy: false 
-
-# TF из Gazebo в ROS2 (поза модели в мире)
- ros_topic_name: /tf
-  gz_topic_name: /model/iiwa7/pose
-  ros_type_name: tf2_msgs/msg/TFMessage
-  gz_type_name: gz.msgs.Pose_V
-  direction: GZ_TO_ROS
-  lazy: false 
@@ -8,7 +8,8 @@ robot:

 digital_twin:
  webots:
-    world: pkg://iiwa_description/worlds/iiwa.wbt
+    # world: pkg://iiwa_description/worlds/iiwa.wbt
+    world: pkg://iiwa_description/worlds/simple_world.wbt
    transform: "-0.25 0 0.79"
    rotation: "0 0 1 0"
    controller_timer: "50"