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Refactor URDF and launch files for iiwa robot

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- 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.
This commit is contained in:
Даниил Грабарь
2026-04-08 13:21:18 +10:00
parent 9fb3477466
commit e182f5b7bd
17 changed files with 775 additions and 357 deletions
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src/iiwa_config/config/moveit/iiwa7.srdf
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@@ -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"/>