diff --git a/src/iiwa_bringup/launch/iiwa.launch.py b/src/iiwa_bringup/launch/iiwa.launch.py index e233d16..d5e500b 100644 --- a/src/iiwa_bringup/launch/iiwa.launch.py +++ b/src/iiwa_bringup/launch/iiwa.launch.py @@ -93,7 +93,7 @@ def _runtime_setup(context, *args, **kwargs): # TODO: добавить аргументы для transform и rotation и передать их из setting.yaml а также мир launch_arguments={ "robot_name": settings.robot.name, - "world": "empty.sdf", + "world": str(get_package_share_directory("iiwa_description") + "/worlds/iiwa_world.sdf"), "gazebo_config": str(get_package_share_directory("iiwa_config") + "/config/gazebo/gz_bridge.yaml"), "simulate": "true", }.items(), diff --git a/src/iiwa_bringup/launch/supported/gazebo.launch.py b/src/iiwa_bringup/launch/supported/gazebo.launch.py index 8efe5a3..50af1d8 100644 --- a/src/iiwa_bringup/launch/supported/gazebo.launch.py +++ b/src/iiwa_bringup/launch/supported/gazebo.launch.py @@ -1,3 +1,4 @@ +from ament_index_python import get_package_share_directory from launch import LaunchDescription from launch.actions import ( IncludeLaunchDescription, @@ -32,6 +33,25 @@ def _spawn_setup(context, *args, **kwargs): }.items(), ) + # Table Spawner + spawn_table = Node( + package="ros_gz_sim", + executable="create", + name="spawn_table", + output="screen", + arguments=[ + "-file", str( + get_package_share_directory("iiwa_description") + + "/urdf/table/table.urdf" + ), + "-name", "iiwa_table", + "-x", "0.0", + "-y", "0.0", + "-z", "0.0", + ], + ) + + # Robot Spawner # TODO: добавить аргументы для transform и rotation spawn_robot = Node( package="ros_gz_sim", @@ -41,7 +61,9 @@ def _spawn_setup(context, *args, **kwargs): arguments=[ "-topic", "/robot_description", "-name", robot_name, - "-z", "0.0" + "-x", "-0.25", + "-y", "0.0", + "-z", "0.81" ], ) @@ -56,8 +78,13 @@ def _spawn_setup(context, *args, **kwargs): }], ) - return [gazebo, spawn_robot, gz_bridge] + return [ + gazebo, + spawn_table, + spawn_robot, + gz_bridge + ] def generate_launch_description(): - return LaunchDescription([OpaqueFunction(function=_spawn_setup)]) \ No newline at end of file + return LaunchDescription([OpaqueFunction(function=_spawn_setup)]) diff --git a/src/iiwa_config/config/rviz/rviz_moveit.rviz b/src/iiwa_config/config/rviz/rviz_moveit.rviz index 192ae56..8778c53 100644 --- a/src/iiwa_config/config/rviz/rviz_moveit.rviz +++ b/src/iiwa_config/config/rviz/rviz_moveit.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /Status1 Splitter Ratio: 0.5 - Tree Height: 166 + Tree Height: 164 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -78,11 +78,31 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + base_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true + finger1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + finger2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + finger3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true link1: Alpha: 1 Show Axes: false @@ -122,6 +142,16 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + screw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true world: Alpha: 1 Show Axes: false @@ -135,7 +165,7 @@ Visualization Manager: State Display Time: 3x Trail Step Size: 1 Trajectory Topic: /display_planned_path - Use Sim Time: True + Use Sim Time: true Planning Metrics: Payload: 1 Show Joint Torques: false @@ -147,7 +177,7 @@ Visualization Manager: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.3 + Interactive Marker Size: 0.30000001192092896 Joint Violation Color: 255; 0; 255 Planning Group: iiwa_arm Query Goal State: true @@ -172,11 +202,31 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + base_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true + finger1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + finger2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + finger3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true link1: Alpha: 1 Show Axes: false @@ -216,6 +266,16 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + screw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true world: Alpha: 1 Show Axes: false @@ -278,30 +338,30 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -0.2744624614715576 + Y: 0.14776650071144104 + Z: 0.4366345703601837 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.570398211479187 + Pitch: 0.5853981971740723 Target Frame: Value: Orbit (rviz) - Yaw: 5.948578357696533 + Yaw: 5.813575267791748 Saved: ~ Window Geometry: - "": - collapsed: false - " - Trajectory Slider": - collapsed: false Displays: collapsed: false - Height: 846 + Height: 992 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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