refactor: remove unused ai_agent package and related files; add colcon defaults

src/ai_agent/package.xml

@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>ai_agent</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
-  <license>TODO: License declaration</license>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

src/ai_agent/setup.cfg

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/ai_agent
-[install]
-install_scripts=$base/lib/ai_agent

src/ai_agent/setup.py

@@ -1,29 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'ai_agent'
-
-setup(
-    name=package_name,
-    version='0.0.0',
-    packages=find_packages(exclude=['test']),
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='daniel',
-    maintainer_email='grabardm@ml-dev.ru',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    extras_require={
-        'test': [
-            'pytest',
-        ],
-    },
-    entry_points={
-        'console_scripts': [
-        ],
-    },
-)

src/ai_agent/test/test_copyright.py

@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'

src/ai_agent/test/test_flake8.py

@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)

src/ai_agent/test/test_pep257.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'

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

@@ -1,3 +1,6 @@
+import tempfile
+
+import yaml
 from launch import LaunchDescription
 from launch.actions import (
     EmitEvent,
@@ -29,17 +32,34 @@ def _spawn_setup(context, *args, **kwargs):
         },
     )
 
+    # robot_description cannot be passed via -p key:=value: rcl's YAML parser
+    # chokes on XML content (quotes, angle brackets). Merge all params into one
+    # temp file and pass via --params-file. A minimal dict triggers --ros-args
+    # so WebotsController includes the required prefix in the command.
+    with open(controller, "r") as f:
+        controller_cfg = yaml.safe_load(f) or {}
+
+    combined = {
+        "/**": {"ros__parameters": {
+            "robot_description": robot_description,
+            "set_robot_state_publisher": False,
+        }}
+    }
+    combined.update(controller_cfg)
+
+    with tempfile.NamedTemporaryFile(
+        mode="w", suffix=".yaml", delete=False, prefix="iiwa7_webots_"
+    ) as f:
+        yaml.dump(combined, f, default_flow_style=False, allow_unicode=True)
+        params_file = f.name
+
     webots = WebotsLauncher(world=world, ros2_supervisor=True)
 
     driver = WebotsController(
         robot_name=robot_name,
         parameters=[
-            {
-                "robot_description": robot_description,
-                "use_sim_time": True,
-                "set_robot_state_publisher": False,
-            },
-            controller,
+            {"use_sim_time": True},  # dict → triggers --ros-args prefix
+            params_file,             # file → --params-file (robot_description + controllers)
         ],
         respawn=True,
     )

src/iiwa_utils/iiwa_utils/tool_manager.py

@@ -84,7 +84,15 @@ def _write_xacro(tool_cfg: dict, output_path: Path) -> None:
     if xacro_include:
         body = f'    <xacro:include filename="{xacro_include}"/>\n'
     else:
-        body = "    <!-- no tool attached -->\n"
+        body = (
+            "    <!-- no tool attached: tcp coincides with link_ee -->\n"
+            "    <link name=\"tcp\" />\n"
+            "    <joint name=\"link_ee_to_tcp\" type=\"fixed\">\n"
+            "        <parent link=\"link_ee\"/>\n"
+            "        <child link=\"tcp\"/>\n"
+            "        <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>\n"
+            "    </joint>\n"
+        )
 
     content = (
         '<?xml version="1.0"?>\n'