Add camera spawning functionality and update world configuration

src/iiwa_bringup/launch/iiwa.launch.py

@@ -125,6 +125,40 @@ def _runtime_setup(context, *args, **kwargs):
             "rotation": str(settings.digital_twin.webots.rotation),
             "controller_timer": str(settings.digital_twin.webots.controller_timer),
         }
+
+        # TODO пример работы, необходимо правильно интегрировать в структуру проекта и удалить из-за избыточности
+
+#         example_camera_urdf = """<?xml version="1.0"?>
+# <robot name="example_camera_robot">
+#     <link name="example_camera_link"/>
+#     <webots>
+#         <device reference="example_camera" type="Camera">
+#             <ros>
+#                 <topicName>/example_camera/image_raw</topicName>
+#                 <updateRate>30</updateRate>
+#                 <alwaysOn>True</alwaysOn>
+#                 <frameName>example_camera_link</frameName>
+#             </ros>
+#         </device>
+#     </webots>
+# </robot>
+# """
+
+#         from webots_ros2_driver.webots_controller import WebotsController
+
+#         example_camera_driver = WebotsController(
+#         robot_name="example_camera_robot",
+#         parameters=[
+#             {
+#                 "robot_description": example_camera_urdf,
+#                 "use_sim_time": True,
+#                 "set_robot_state_publisher": False,
+#             }
+#         ],
+#         respawn=True,
+#     )  
+#         setup += [example_camera_driver]
+
     else:
         controller_args = {
             "robot_name": settings.robot.name,

src/iiwa_config/config/cameras/d455_top.yaml

@@ -0,0 +1,4 @@
+# Пример использования параметров камеры
+name: D455_TOP
+translation: "-0.25 0 0.79"
+rotation: "0 0 1 0"

src/iiwa_config/config/gazebo/gz_bridge.yaml

@@ -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 

src/iiwa_config/config/setting.yaml

@@ -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"

src/iiwa_description/urdf/iiwa7.urdf.xacro

@@ -32,6 +32,15 @@
                 </ros>
             </device>
 
+            <device reference="example_camera" type="Camera">
+                <ros>
+                    <topicName>/camera_example/color</topicName>
+                    <updateRate>30</updateRate>
+                    <alwaysOn>True</alwaysOn>
+                    <frameName>example_camera</frameName>
+                </ros>
+            </device>
+
             <device reference="camera_depth" type="RangeFinder">
                 <ros>
                     <topicName>/camera/depth</topicName>

src/iiwa_description/worlds/simple_world.wbt

@@ -7,8 +7,8 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/project
 WorldInfo {
 }
 Viewpoint {
-  orientation -0.20135401485081894 0.14705590432610455 0.9684168119700772 1.9104172436184537
-  position 2.126114183750861 -6.172386590547907 2.2530769187603243
+  orientation -0.28913430413481667 0.20676337530925004 0.9346926023047372 1.96317584288795
+  position 2.0700764329273156 -5.621201880809646 3.39425616182994
 }
 TexturedBackground {
 }
@@ -17,3 +17,14 @@ TexturedBackgroundLight {
 RectangleArena {
   floorSize 5 5
 }
+
+Robot {
+  translation -1.26 0 0.77
+  children [
+    Camera {
+      name "example_camera"
+    }
+  ]
+  name "example_camera_robot"
+  controller "<extern>"
+}

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:
+        ...