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_config/config/gazebo/gz_bridge.yaml

@@ -0,0 +1,29 @@
+# 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/moveit/iiwa7.srdf

@@ -43,9 +43,6 @@
     <!--PASSIVE JOINTS: MoveIt не ожидает их в /joint_states и не планирует ими.
         Геометрия захвата всё равно учитывается при проверке коллизий.-->
     <passive_joint name="base_screw"/>
-    <passive_joint name="craving1_joint"/>
-    <passive_joint name="craving2_joint"/>
-    <passive_joint name="craving3_joint"/>
     <passive_joint name="finger1_joint"/>
     <passive_joint name="finger2_joint"/>
     <passive_joint name="finger3_joint"/>