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.
2026-04-08 13:21:18 +10:00
parent 9fb3477466
commit e182f5b7bd
17 changed files with 775 additions and 357 deletions
@@ -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)])