Refactor URDF and launch files for iiwa robot

- Updated gripper macros in gripper_macros.xacro to simplify parameters and add Gazebo support.
- Removed unused mesh property in gripper_meshes.xacro.
- Enhanced iiwa7 digital and FRI URDF files with simulation arguments and improved controller setup.
- Added new launch files for Gazebo simulation and universal launch configuration.
- Implemented YAML parameter wrapping for ROS2 in converter.py.
- Introduced a new gz_bridge.yaml configuration for Gazebo to ROS2 topic mapping.
- Cleaned up setting_loader.py and added necessary imports.

src/iiwa_bringup/launch/supported/controllers.launch.py

@@ -0,0 +1,117 @@
+from launch import LaunchDescription
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch.event_handlers import OnProcessExit
+from launch.actions import RegisterEventHandler
+from launch_ros.actions import Node
+
+from iiwa_utils import converter
+
+
+def _setup_controllers(context, *args, **kwargs):
+    robot_name = LaunchConfiguration("robot_name").perform(context)
+    description = LaunchConfiguration("description").perform(context)
+    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
+    controller_path = LaunchConfiguration("controller_path").perform(context)
+    simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
+
+    robot_description = converter.load_robot_description(
+        model_path=description,
+        robot_name=robot_name,
+        xacro_args={"initial_positions_file": initial_positions_file},
+    )
+
+    # СИМУЛЯЦИЯ (Gazebo)
+    if simulate:
+        jsb = Node(
+            package="controller_manager",
+            executable="spawner",
+            output="screen",
+            arguments=[
+                "joint_state_broadcaster",
+                "--controller-manager", "/controller_manager",
+                "--controller-manager-timeout", "30",
+            ],
+            parameters=[{"use_sim_time": True}],
+        )
+
+        jtc = Node(
+            package="controller_manager",
+            executable="spawner",
+            output="screen",
+            arguments=[
+                "iiwa_arm_controller",
+                "--controller-manager", "/controller_manager",
+                "--controller-manager-timeout", "30",
+            ],
+            parameters=[{"use_sim_time": True}],
+        )
+
+        jtc_after_jsb = RegisterEventHandler(
+            OnProcessExit(
+                target_action=jsb,
+                on_exit=[jtc],
+            )
+        )
+
+        return [jsb, jtc_after_jsb]
+
+    # РЕАЛЬНЫЙ РОБОТ (FRI)
+    else:
+        ros2_control_node = Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            output="screen",
+            parameters=[
+                {"robot_description": robot_description},
+                controller_path,
+            ],
+        )
+
+        jsb = Node(
+            package="controller_manager",
+            executable="spawner",
+            output="screen",
+            arguments=[
+                "joint_state_broadcaster",
+                "--controller-manager", "/controller_manager",
+            ],
+        )
+
+        jtc = Node(
+            package="controller_manager",
+            executable="spawner",
+            output="screen",
+            arguments=[
+                "iiwa_arm_controller",
+                "--controller-manager", "/controller_manager",
+            ],
+        )
+
+        torque_controller = Node(
+            package="controller_manager",
+            executable="spawner",
+            output="screen",
+            arguments=[
+                "forward_torque_controller",
+                "--controller-manager", "/controller_manager",
+                "--inactive",
+            ],
+        )
+
+        jtc_after_jsb = RegisterEventHandler(
+            OnProcessExit(
+                target_action=jsb,
+                on_exit=[jtc, torque_controller],
+            )
+        )
+
+        return [
+            ros2_control_node,
+            jsb,
+            jtc_after_jsb,
+        ]
+
+
+def generate_launch_description():
+    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])

src/iiwa_bringup/launch/supported/gazebo.launch.py

@@ -0,0 +1,63 @@
+from launch import LaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+    OpaqueFunction,
+)
+from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def _spawn_setup(context, *args, **kwargs):
+    robot_name = LaunchConfiguration("robot_name").perform(context)
+    world = LaunchConfiguration("world").perform(context)
+    gazebo_config = LaunchConfiguration("gazebo_config").perform(context)
+    simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
+    # transform = LaunchConfiguration("transform").perform(context)
+    
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros_gz_sim"),
+                    "launch",
+                    "gz_sim.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "gz_args": f"-r {world}",
+            "on_exit_shutdown": "true",
+            }.items(),
+    )
+
+    # TODO: добавить аргументы для transform и rotation
+    spawn_robot = Node(
+        package="ros_gz_sim",
+        executable="create",
+        name="spawn_iiwa7",
+        output="screen",
+        arguments=[
+            "-topic", "/robot_description",
+            "-name", robot_name,
+            "-z", "0.0"
+        ],
+    )
+
+    gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="gz_bridge",
+        output="screen",
+        parameters=[{
+            "config_file": gazebo_config,
+            "use_sim_time": simulate
+        }],
+    )
+
+    return [gazebo, spawn_robot, gz_bridge]
+
+
+def generate_launch_description():
+    return LaunchDescription([OpaqueFunction(function=_spawn_setup)])

src/iiwa_bringup/launch/supported/iiwa_controllers.launch.py

@@ -33,7 +33,6 @@ def _setup_controllers(context, *args, **kwargs):
         ],
     )
 
-    
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",