Add camera spawning functionality and update world configuration

src/iiwa_utils/iiwa_utils/camera_spawner.py

@@ -0,0 +1,56 @@
+from dataclasses import dataclass
+
+import rclpy
+from rclpy.node import Node
+from rclpy.task import Future
+from webots_ros2_msgs.srv import SpawnNodeFromString
+from rclpy.executors import ExternalShutdownException
+
+
+@dataclass(frozen=True)
+class CameraSpawnParams:
+    camera_name: str
+    translation: str
+    rotation: str
+    
+
+
+
+class CameraSpawner(Node):
+
+    def __init__(self, camera_params: CameraSpawnParams):
+        super().__init__("camera_spawner")
+
+        self._camera_params = camera_params
+        self._urdf_template = self._generate_camera_urdf()
+        self._proto_template = self._generate_camera_proto()
+
+
+
+        # 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..."
+        #     )
+
+        # data = 'Camera { name "camera" translation 0 0 1.5 rotation 1 0 0 -1.5708 }'
+        # req = SpawnNodeFromString.Request(data=data, check_fields=True)
+        # self.get_logger().info(f"Calling spawn service for camera")
+        # 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("Camera spawned successfully")
+    #     except Exception as e:
+    #         self.get_logger().error(f"Service call failed: {e}")
+
+    def _generate_camera_proto(self) -> str:
+        ...
+
+    def _generate_camera_urdf(self) -> str:
+        ...