Создан общий файл запуска digital_twin.launch.py, через который в дальнейшем будет запускаться весь цифровой двойник.

Добавлена папка `supported`, в которой будут размещаться файлы запуска подключаемые в основном файле.

Переименован контроллер на `iiwa_arm_controller`

Добавлен пакет `iiwa_bringup.utils`, в котором будут распологаться все вспомогательные функции, для  папки `launch`

В файле `README`, были добавлены подсказки для автора

src/iiwa_bringup/launch/supported/rviz.launch.py

@@ -0,0 +1,46 @@
+from launch_ros.actions import Node
+from launch.events import Shutdown
+from launch import LaunchDescription
+from launch.event_handlers import OnProcessExit
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.actions import RegisterEventHandler, EmitEvent, DeclareLaunchArgument
+ 
+
+def generate_launch_description():
+
+    declare_package_arg = DeclareLaunchArgument(
+        'package_name',
+        default_value='iiwa_bringup',
+        description='Package name where RViz config is stored'
+    )
+
+    package_name = LaunchConfiguration('package_name')
+
+    rviz_config = PathJoinSubstitution([
+        FindPackageShare(package_name),
+        'config',
+        'rviz_iiwa.rviz'
+    ])
+
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        output='log'
+    )
+
+    # При закрытии rviz закрываем все
+    shutdown_on_rviz_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=rviz,
+            on_exit=[EmitEvent(event=Shutdown())]
+        )
+    )
+
+    return LaunchDescription([
+        declare_package_arg,
+        rviz,
+        shutdown_on_rviz_exit
+    ])

src/iiwa_bringup/launch/supported/webots_controllers.launch.py

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+from launch_ros.actions import Node
+from webots_ros2_driver.urdf_spawner import URDFSpawner
+
+from launch import LaunchDescription
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from iiwa_bringup.utils import converter
+
+
+def _setup_controllers(context, *args, **kwargs):
+    model_path = LaunchConfiguration('model').perform(context)
+    robot_name = LaunchConfiguration('robot_name').perform(context)
+    transform = LaunchConfiguration('transform').perform(context)
+    rotation = LaunchConfiguration('rotation').perform(context)
+    timer = LaunchConfiguration('controller_timer').perform(context)
+
+    robot_description = converter.load_robot_description(model_path=model_path,
+                                                         robot_name=robot_name)
+    
+    tmo = ['--controller-manager-timeout', str(timer)]
+
+    jsb = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['joint_state_broadcaster'] + tmo,
+        parameters=[{'use_sim_time': False}],
+    )
+
+    jtc = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['iiwa_arm_controller'] + tmo,
+        parameters=[{'use_sim_time': False}],
+    )
+
+    spawner_urdf = URDFSpawner(
+        name=robot_name,
+        robot_description=robot_description,
+        translation=transform,
+        rotation=rotation
+    )
+
+    return [jsb, jtc, spawner_urdf]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=_setup_controllers)
+    ])

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

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+from launch.events import Shutdown
+from launch import LaunchDescription
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+from launch.event_handlers import OnProcessExit, OnProcessStart
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import (IncludeLaunchDescription, 
+                            OpaqueFunction,
+                            TimerAction,
+                            RegisterEventHandler,
+                            EmitEvent)
+
+
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.webots_controller import WebotsController
+
+
+def _spawn_setup(context, *args, **kwargs):
+    model_path = LaunchConfiguration('model').perform(context)
+    robot_name = LaunchConfiguration('robot_name').perform(context)
+    world_path = LaunchConfiguration('world').perform(context)
+    transform = LaunchConfiguration('transform').perform(context)
+    rotation = LaunchConfiguration('rotation').perform(context)
+    timer = LaunchConfiguration('controller_timer').perform(context)
+
+    webots = WebotsLauncher(world=world_path, 
+                            ros2_supervisor=True)
+    
+    driver = WebotsController(
+        robot_name=robot_name,
+        parameters=[
+            {
+                "robot_description": model_path,
+                "use_sim_time": False,
+                "set_robot_state_publisher": False
+            },
+            LaunchConfiguration('controller').perform(context)
+        ],
+        respawn=True
+    )
+
+    controllers_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare('iiwa_bringup'),
+                'launch',
+                'supported',
+                'webots_controllers.launch.py'
+            ])
+        ),
+        launch_arguments={
+            'robot_name': robot_name,
+            'model': model_path,
+            'transform': transform,
+            'rotation': rotation,
+            'controller_timer': timer
+        }.items()
+    )
+
+    spawn_on_driver_start = RegisterEventHandler(
+        event_handler=OnProcessStart(
+            target_action=driver,
+            on_start=lambda evt, ctx: [
+                TimerAction(period=5.0,
+                            actions=[controllers_launch]
+                            )
+            ]
+        )
+    )
+
+    shutdown_on_webots_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=webots,
+            on_exit=[EmitEvent(event=Shutdown())]
+        )
+    )
+
+    return [webots,
+            webots._supervisor, 
+            driver,
+            spawn_on_driver_start,
+            shutdown_on_webots_exit]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=_spawn_setup)
+    ])