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
2025-11-22 21:43:03 +10:00
parent 7bc2a21575
commit ec40feb6f2
11 changed files with 415 additions and 295 deletions
@@ -0,0 +1,90 @@
+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)
+    ])