Update fields

cobot-setting.yaml

@@ -43,6 +43,13 @@ planning:
   default_planner: "ompl"     # Планировщик по умолчанию
   planning_attempts: 3        # Число попыток планирования
 
+web:
+  enabled: true
+  host: "0.0.0.0"
+  port: 8007
+  endpoints: pkg://iiwa_config/config/api_endpoints.yaml
+  joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
+
 foxglove:
   enabled: true  # Запускать ли foxglove_bridge вместе с роботом
   port: 8765 # WebSocket-порт, к которому подключается Foxglove Studio (по умолчанию 8765)

rosdep.yaml

@@ -7,3 +7,8 @@ python3-uvicorn:
   ubuntu:
     pip:
       packages: ["uvicorn[standard]"]
+
+python3-multipart:
+  ubuntu:
+    pip:
+      packages: [python-multipart]

src/iiwa_bringup/launch/iiwa.launch.py

@@ -278,6 +278,23 @@ def _runtime_setup(context, *args, **kwargs):
 
         setup += [foxglove_bridge]
 
+    if settings.web.enabled:
+        web_server = Node(
+            package="iiwa_web",
+            executable="iiwa_web_server",
+            output="screen",
+            name="iiwa_web_server",
+            parameters=[{
+                "host": settings.web.host,
+                "port": settings.web.port,
+                "endpoints_path": settings.web.endpoints,
+                "joint_limits_path": settings.web.joint_limits,
+                "use_sim_time": use_sim_time,
+            }],
+        )
+
+        setup += [web_server]
+
     return setup
 
 def generate_launch_description():

src/iiwa_config/config/setting.yaml

@@ -43,6 +43,13 @@ planning:
   default_planner: "ompl"     # Планировщик по умолчанию
   planning_attempts: 3        # Число попыток планирования
 
+web:
+  enabled: true
+  host: "0.0.0.0"
+  port: 8007
+  endpoints: pkg://iiwa_config/config/api_endpoints.yaml
+  joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
+
 foxglove:
   enabled: true  # Запускать ли foxglove_bridge вместе с роботом
   port: 8765 # WebSocket-порт, к которому подключается Foxglove Studio (по умолчанию 8765)

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -65,6 +65,15 @@ class PlanningCfg:
     planning_attempts: int
 
 
+@dataclass(frozen=True)
+class WebCfg:
+    enabled: bool
+    host: str
+    port: int
+    endpoints: str    # resolved absolute path to api_endpoints.yaml
+    joint_limits: str  # resolved absolute path to joint_limits.yaml
+
+
 @dataclass(frozen=True)
 class FoxgloveCfg:
     enabled: bool                       # Запускать ли foxglove_bridge
@@ -100,6 +109,7 @@ class Settings:
     controller: ControllerCfg
     planning: PlanningCfg
     foxglove: FoxgloveCfg
+    web: WebCfg
 
     def to_dict(self) -> Dict[str, Any]:
         def _convert(obj: Any) -> Any:
@@ -168,6 +178,32 @@ def assert_file(path: str, key: str) -> None:
         raise SettingsError(f"path for '{key}' is not a file: {path}")
 
 
+# Web defaults
+_WEB_DEFAULTS: Dict[str, Any] = {
+    "enabled": False,
+    "host": "0.0.0.0",
+    "port": 8007,
+    "endpoints": "pkg://iiwa_config/config/api_endpoints.yaml",
+    "joint_limits": "pkg://iiwa_config/config/moveit/joint_limits.yaml",
+}
+
+
+def _parse_web(raw: Optional[Dict[str, Any]], settings_dir: str) -> WebCfg:
+    if raw is None:
+        raw = {}
+
+    def get(key: str) -> Any:
+        return raw.get(key, _WEB_DEFAULTS[key])
+
+    return WebCfg(
+        enabled=bool(get("enabled")),
+        host=str(get("host")),
+        port=int(get("port")),
+        endpoints=resolve_path(str(get("endpoints")), settings_dir),
+        joint_limits=resolve_path(str(get("joint_limits")), settings_dir),
+    )
+
+
 # Foxglove defaults
 _FOXGLOVE_DEFAULTS: Dict[str, Any] = {
     "enabled": False,
@@ -303,12 +339,16 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
     # foxglove
     foxglove = _parse_foxglove(raw.get("foxglove"))
 
+    # web
+    web = _parse_web(raw.get("web"), settings_dir)
+
     s = Settings(
         robot=robot,
         digital_twin=digital_twin,
         controller=controller,
         planning=planning,
         foxglove=foxglove,
+        web=web,
     )
 
     if check_files:
@@ -326,5 +366,8 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         assert_file(s.controller.moveit.initial_positions, "controller.moveit.initial_positions")
         assert_file(s.controller.moveit.moveit_controllers, "controller.moveit.moveit_controllers")
         assert_file(s.controller.moveit.moveit_cpp, "controller.moveit.moveit_cpp")
+        if s.web.enabled:
+            assert_file(s.web.endpoints, "web.endpoints")
+            assert_file(s.web.joint_limits, "web.joint_limits")
 
     return s

src/iiwa_web/iiwa_web/config_loader.py

@@ -65,36 +65,39 @@ def _parse_joint_limits_data(data: dict) -> tuple[list[str], list[tuple[float, f
 
 
 def load_joint_names(
+    path: str | None = None,
     package: str = "iiwa_config",
     relative: str = "config/moveit/joint_limits.yaml",
 ) -> list[str]:
     """Возвращает упорядоченный список имён суставов из joint_limits.yaml."""
-    path = _resolve_path(package, relative)
+    resolved = Path(path) if path else _resolve_path(package, relative)
-    with open(path) as f:
+    with open(resolved) as f:
         data = yaml.safe_load(f)
     names, _ = _parse_joint_limits_data(data)
     return names
 
 
 def load_joint_limits(
+    path: str | None = None,
     package: str = "iiwa_config",
     relative: str = "config/moveit/joint_limits.yaml",
 ) -> list[tuple[float, float]]:
     """Возвращает список (min, max) для каждого сустава по порядку joint1..jointN."""
-    path = _resolve_path(package, relative)
+    resolved = Path(path) if path else _resolve_path(package, relative)
-    with open(path) as f:
+    with open(resolved) as f:
         data = yaml.safe_load(f)
     _, limits = _parse_joint_limits_data(data)
     return limits
 
 
 def load_api_config(
+    path: str | None = None,
     package: str = "iiwa_config",
     relative: str = "config/api_endpoints.yaml",
 ) -> list[EndpointDef]:
     """Загружает описания эндпоинтов из YAML и возвращает список EndpointDef."""
-    path = _resolve_path(package, relative)
+    resolved = Path(path) if path else _resolve_path(package, relative)
-    with open(path) as f:
+    with open(resolved) as f:
         data = yaml.safe_load(f)
 
     endpoints: list[EndpointDef] = []

src/iiwa_web/iiwa_web/dynamic_router.py

@@ -208,10 +208,13 @@ def _make_tf_handler(ep: EndpointDef):
     return handler
 
 
-def build_dynamic_router() -> APIRouter:
+def build_dynamic_router(
+    endpoints_path: str | None = None,
+    joint_limits_path: str | None = None,
+) -> APIRouter:
     """Читает api_endpoints.yaml и joint_limits.yaml, возвращает готовый APIRouter."""
-    endpoints = load_api_config()
+    endpoints = load_api_config(path=endpoints_path)
-    joint_limits = load_joint_limits()
+    joint_limits = load_joint_limits(path=joint_limits_path)
 
     router = APIRouter()
 

src/iiwa_web/iiwa_web/main.py

@@ -1,27 +1,39 @@
-import uvicorn
+import threading
 from contextlib import asynccontextmanager
+
+import rclpy
+import uvicorn
 from fastapi import FastAPI
 from sensor_msgs.msg import JointState
-from .ros_node import init_ros_node, get_bridge
+
 from .dynamic_router import build_dynamic_router
+from .ros_node import CobotWebNode, get_bridge, set_bridge
 from . import runner, trajectory
 
 
-@asynccontextmanager
-async def lifespan(_: FastAPI):
-    init_ros_node()
-    get_bridge().subscribe("/joint_states", JointState)
-    yield
-
-
-app = FastAPI(lifespan=lifespan)
-app.include_router(build_dynamic_router())
-app.include_router(runner.router)
-app.include_router(trajectory.router)
-
-
 def main():
-    uvicorn.run(app, host="localhost", port=8007)
+    rclpy.init()
+    node = CobotWebNode()
+    set_bridge(node)
+    threading.Thread(target=rclpy.spin, args=(node,), daemon=True).start()
+
+    host = node.get_parameter('host').value
+    port = node.get_parameter('port').value
+    endpoints_path = node.get_parameter('endpoints_path').value or None
+    joint_limits_path = node.get_parameter('joint_limits_path').value or None
+
+    @asynccontextmanager
+    async def lifespan(_: FastAPI):
+        get_bridge().subscribe("/joint_states", JointState)
+        yield
+
+    app = FastAPI(lifespan=lifespan)
+    app.include_router(build_dynamic_router(endpoints_path, joint_limits_path))
+    app.include_router(runner.router)
+    app.include_router(trajectory.router)
+
+    uvicorn.run(app, host=host, port=port)
+
 
 if __name__ == "__main__":
     main()

src/iiwa_web/iiwa_web/ros_node.py

@@ -11,6 +11,11 @@ class CobotWebNode(Node):
     def __init__(self):
         super().__init__('cobot_web_node')
 
+        self.declare_parameter('host', '0.0.0.0')
+        self.declare_parameter('port', 8007)
+        self.declare_parameter('endpoints_path', '')
+        self.declare_parameter('joint_limits_path', '')
+
         self._topic_cache: dict = {}
         self._pub_registry: dict = {}
         self._service_clients: dict = {}
@@ -106,11 +111,16 @@ class CobotWebNode(Node):
 
 _bridge: CobotWebNode = None
 
+
+def set_bridge(node: CobotWebNode) -> None:
+    global _bridge
+    _bridge = node
+
+
 def init_ros_node() -> None:
     global _bridge
     rclpy.init()
     _bridge = CobotWebNode()
-    
     thread = threading.Thread(target=rclpy.spin, args=(_bridge,), daemon=True)
     thread.start()
 

src/iiwa_web/package.xml

@@ -9,6 +9,7 @@
 
   <exec_depend>python3-fastapi</exec_depend>
   <exec_depend>python3-uvicorn</exec_depend>
+  <exec_depend>python3-multipart</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>tf2_py</exec_depend>
 

src/iiwa_web/setup.py

@@ -14,7 +14,8 @@ setup(
     install_requires=[
         'setuptools',
         'fastapi',
-        'uvicorn[standard]'
+        'uvicorn[standard]',
+        'python-multipart',
     ],
     zip_safe=True,
     maintainer='daniel',