Переработана вся структура запуска файлов. Теперь в iiwa_bringup хранятся только launch файлы.

Все конфигурационные файлы переехали в пакет `iiwa_config`. также там появился общий конфигурационный файл, который упращает запуск `digital_twin.launch.py`

Добавлен дополнительный пакет  `iiwa_utils`, в который переехал весь код с папки `iiwa_bringup/utils`, а также все тестовые ноды переехали с `iiwa_object_spawner` в этот пакет

Пакеты `iiwa_bringup` и `iiwa_description` переведены на `ament_cmake` для дальнейшего удобсва - пакеты не будут содержать код для реализации

src/iiwa_bringup/launch/digital_twin.launch.py

@@ -15,45 +15,22 @@ from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 from moveit_configs_utils import MoveItConfigsBuilder
 
-from iiwa_bringup.utils import converter
-
-
-PACKAGE = "iiwa_bringup"
-DESCRIPTION_PKG = "iiwa_description"
-
-
-def _arg(name: str, default, desc: str):
-    """Short helper to declare a launch argument."""
-    return DeclareLaunchArgument(name=name, default_value=default, description=desc)
-
-
-def _share_file(pkg_arg_name: str, *relpath: str):
-    """Join <share>/<relpath...> where <share> is FindPackageShare(LaunchConfiguration(pkg_arg_name))."""
-    return PathJoinSubstitution([FindPackageShare(LaunchConfiguration(pkg_arg_name)), *relpath])
+from iiwa_utils import converter, setting_loader
 
 
 def _runtime_setup(context, *args, **kwatgs):
     setup = []
 
-    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)
-
-    xacro_file = LaunchConfiguration("xacro_file").perform(context)
-    srdf_file = LaunchConfiguration("srdf_file").perform(context)
-
-    # ros2_controllers_file = LaunchConfiguration("controller").perform(context)
-    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
-
-    kinematics_yaml = LaunchConfiguration("kinematics_yaml").perform(context)
-    joint_limits_yaml = LaunchConfiguration("joint_limits_yaml").perform(context)
-    pilz_limits_yaml = LaunchConfiguration("pilz_limits_yaml").perform(context)
-    moveit_controllers_yaml = LaunchConfiguration("moveit_controllers_yaml").perform(context)
+    settings = setting_loader.build_settings(
+        settings_path=LaunchConfiguration("setting").perform(context), check_files=True
+    )
 
     robot_description = converter.load_robot_description(
-        model_path=xacro_file, robot_name=robot_name
+        model_path=settings.digital_twin.description,
+        robot_name=settings.robot.name,
+        xacro_args={
+            "initial_positions_file": settings.controller.moveit.initial_positions
+        },
     )
 
     rsp_node = Node(
@@ -61,15 +38,14 @@ def _runtime_setup(context, *args, **kwatgs):
         executable="robot_state_publisher",
         name="robot_state_publisher",
         output="screen",
-        parameters=[{"robot_description": robot_description, 
-                     "use_sim_time": False}],
+        parameters=[{"robot_description": robot_description, "use_sim_time": False}],
     )
 
     webots_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    FindPackageShare(PACKAGE),
+                    FindPackageShare("iiwa_bringup"),
                     "launch",
                     "supported",
                     "webots_spawn.launch.py",
@@ -77,26 +53,31 @@ def _runtime_setup(context, *args, **kwatgs):
             )
         ),
         launch_arguments={
-            "robot_name": robot_name,
-            "xacro_file": xacro_file,
-            "world": world_path,
-            "transform": transform,
-            "rotation": rotation,
-            "controller_timer": timer,
+            "robot_name": str(settings.robot.name),
+            "description": str(settings.digital_twin.description),
+            "world": str(settings.digital_twin.webots.world),
+            "transform": str(settings.digital_twin.webots.transform),
+            "rotation": str(settings.digital_twin.webots.rotation),
+            "controller_timer": str(settings.digital_twin.webots.controller_timer),
+            "controller": str(settings.controller.controller_path),
+            "initial_positions_file": str(settings.controller.moveit.initial_positions),
         }.items(),
     )
 
     moveit_configs = (
-        MoveItConfigsBuilder("iiwa7", package_name=LaunchConfiguration("config_pkg").perform(context))
-        .robot_description(file_path=xacro_file, mappings={
-            "initial_positions_file": initial_positions_file,
-        })
-        .robot_description_semantic(file_path=srdf_file)
-        .robot_description_kinematics(file_path=kinematics_yaml)
-        .joint_limits(file_path=joint_limits_yaml)
-        .pilz_cartesian_limits(file_path=pilz_limits_yaml)
-        .trajectory_execution(file_path=moveit_controllers_yaml)
-        .moveit_cpp(file_path="/home/daniel/dev/ros2_iiwa7/src/iiwa_bringup/config/motion_planing.yaml") # TODO: сделать подстановочным значением
+        MoveItConfigsBuilder("iiwa7", package_name="iiwa_config")
+        .robot_description(
+            file_path=settings.digital_twin.description,
+            mappings={
+                "initial_positions_file": settings.controller.moveit.initial_positions
+            },
+        )
+        .robot_description_semantic(file_path=settings.controller.moveit.srdf)
+        .robot_description_kinematics(file_path=settings.controller.moveit.kinematics)
+        .joint_limits(file_path=settings.controller.moveit.joint_limits)
+        .pilz_cartesian_limits(file_path=settings.controller.moveit.pilz_limits)
+        .trajectory_execution(file_path=settings.controller.moveit.moveit_controllers)
+        .moveit_cpp(file_path=settings.controller.moveit.moveit_cpp)
         .to_moveit_configs()
     )
 
@@ -106,29 +87,25 @@ def _runtime_setup(context, *args, **kwatgs):
         output="screen",
         parameters=[
             moveit_configs.to_dict(),
-            robot_description,
+            {"robot_description": robot_description},
         ],
     )
 
     # TODO: не забудь поменять правильное название и имя пакета
     moveit_py_node = Node(
         name="moveit_py",
-        package="iiwa_object_spawner",
+        package="iiwa_utils",
         executable="motion_planning_test",
         output="both",
         parameters=[moveit_configs.to_dict()],
     )
 
-    rviz_config = PathJoinSubstitution(
-        [FindPackageShare(PACKAGE), "config", "rviz_iiwa.rviz"]
-    )
-
     rviz_launch = Node(
         condition=IfCondition(LaunchConfiguration("rviz")),
         package="rviz2",
         executable="rviz2",
         name="rviz2",
-        arguments=["-d", rviz_config],
+        arguments=["-d", settings.digital_twin.rviz.config],
         output="log",
         parameters=[
             moveit_configs.robot_description,
@@ -140,133 +117,42 @@ def _runtime_setup(context, *args, **kwatgs):
     )
 
     shutdown_on_rviz_exit = RegisterEventHandler(
-        OnProcessExit(target_action=rviz_launch, 
-                      on_exit=[EmitEvent(event=Shutdown())])
+        OnProcessExit(target_action=rviz_launch, on_exit=[EmitEvent(event=Shutdown())])
     )
 
-    setup += [rsp_node, 
-              webots_launch, 
-              move_group,
-              moveit_py_node, 
-              rviz_launch, 
-              shutdown_on_rviz_exit
-            ]
+    setup += [
+        rsp_node,
+        webots_launch,
+        move_group,
+        moveit_py_node,
+        rviz_launch,
+        shutdown_on_rviz_exit,
+    ]
 
     return setup
 
 
 def generate_launch_description():
-    # Объявление аргументов командной строки
-    declare_description_pkg = _arg(
-        "description_pkg",
-        DESCRIPTION_PKG,
-        "Package containing URDF/Xacro (and optionally SRDF/worlds).",
-    )
-    declare_config_pkg = _arg(
-        "config_pkg",
-        PACKAGE,
-        "Package containing MoveIt/ros2_control config YAML files (config/*).",
+    declare_rviz = DeclareLaunchArgument(
+        name="rviz",
+        default_value="0",
+        description="If true|1|yes then launch RViz/MoveIt branch (instead of controllers branch)",
     )
 
-    declare_robot_name = _arg(
-        "robot_name",
-        "iiwa7",
-        "Robot name (used for TF and naming).",
+    declacre_setting = DeclareLaunchArgument(
+        name="setting",
+        default_value=PathJoinSubstitution(
+            [FindPackageShare("iiwa_config"), "config", "setting.yaml"]
+        ),
+        description="Absolute path to settings file",
     )
-    declare_world = _arg(
-        "world",
-        _share_file("description_pkg", "worlds", "iiwa.wbt"),
-        "Path to Webots world (.wbt).",
-    )
-    declare_controller = _arg(
-        "controller",
-        _share_file("config_pkg", "config", "iiwa_controller.yaml"),
-        "Controllers YAML (spawner/controller_manager).",
-    )
-    declare_transform = _arg(
-        "transform",
-        "-0.25 0 0.79",
-        "Spawn translation in Webots (x y z).",
-    )
-    declare_rotation = _arg(
-        "rotation",
-        "0 0 1 0",
-        "Spawn rotation axis-angle in Webots.",
-    )
-    declare_rviz = _arg(
-        "rviz",
-        "0",
-        "If true|1|yes then launch RViz/MoveIt branch (instead of controllers branch).",
-    )
-    declare_controller_timer = _arg(
-        "controller_timer",
-        "50",
-        "Timeout (seconds) for controller_manager spawners.",
-    )
-
-    # URDF/SRDF
-    declare_xacro_file = _arg(
-        "xacro_file",
-        _share_file("description_pkg", "urdf", "iiwa7.urdf.xacro"),
-        "Xacro used by MoveIt robot_description.",
-    )
-    declare_srdf_file = _arg(
-        "srdf_file",
-        _share_file("config_pkg", "config", "iiwa7.srdf"),
-        "SRDF path.",
-    )
-
-    # YAML конфиги
-    declare_initial_positions = _arg(
-        "initial_positions_file",
-        _share_file("config_pkg", "config", "initial_positions.yaml"),
-        "initial_positions.yaml passed into xacro arg initial_positions_file.",
-    )
-    declare_kinematics_yaml = _arg(
-        "kinematics_yaml",
-        _share_file("config_pkg", "config", "kinematics.yaml"),
-        "MoveIt kinematics.yaml",
-    )
-    declare_joint_limits_yaml = _arg(
-        "joint_limits_yaml",
-        _share_file("config_pkg", "config", "joint_limits.yaml"),
-        "MoveIt joint_limits.yaml",
-    )
-    declare_pilz_limits_yaml = _arg(
-        "pilz_limits_yaml",
-        _share_file("config_pkg", "config", "pilz_cartesian_limits.yaml"),
-        "Pilz cartesian limits yaml.",
-    )
-    declare_moveit_controllers_yaml = _arg(
-        "moveit_controllers_yaml",
-        _share_file("config_pkg", "config", "moveit_controllers.yaml"),
-        "MoveIt controllers (trajectory_execution / simple_controller_manager).",
-    )
-
 
     runtime_setup = OpaqueFunction(function=_runtime_setup)
 
     return LaunchDescription(
         [
-            declare_description_pkg,
-            declare_config_pkg,
-
-            declare_robot_name,
-            declare_world,
-            declare_controller,
-            declare_transform,
-            declare_rotation,
             declare_rviz,
-            declare_controller_timer,
-
-            declare_xacro_file,
-            declare_srdf_file,
-            declare_initial_positions,
-            declare_kinematics_yaml,
-            declare_joint_limits_yaml,
-            declare_pilz_limits_yaml,
-            declare_moveit_controllers_yaml,
-
+            declacre_setting,
             runtime_setup,
         ]
     )

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

@@ -4,23 +4,26 @@ from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from webots_ros2_driver.urdf_spawner import URDFSpawner
 
-
-from iiwa_bringup.utils import converter
+from iiwa_utils import converter
 
 
 def _setup_controllers(context, *args, **kwargs):
-    xacro_file = LaunchConfiguration("xacro_file").perform(context)
     robot_name = LaunchConfiguration("robot_name").perform(context)
+    description = LaunchConfiguration("description").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=xacro_file, robot_name=robot_name
+    controller_timer = LaunchConfiguration("controller_timer").perform(context)
+    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(
+        context
     )
 
-    tmo = ["--controller-manager-timeout", str(timer)]
-    
+    robot_description = converter.load_robot_description(
+        model_path=description,
+        robot_name=robot_name,
+        xacro_args={"initial_positions_file": initial_positions_file},
+    )
+
+    tmo = ["--controller-manager-timeout", str(controller_timer)]
 
     jsb = Node(
         package="controller_manager",

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

@@ -16,24 +16,28 @@ from webots_ros2_driver.webots_launcher import WebotsLauncher
 
 
 def _spawn_setup(context, *args, **kwargs):
-    xacro_file = LaunchConfiguration("xacro_file").perform(context)
     robot_name = LaunchConfiguration("robot_name").perform(context)
-    world_path = LaunchConfiguration("world").perform(context)
+    description = LaunchConfiguration("description").perform(context)
+    world = LaunchConfiguration("world").perform(context)
     transform = LaunchConfiguration("transform").perform(context)
     rotation = LaunchConfiguration("rotation").perform(context)
-    timer = LaunchConfiguration("controller_timer").perform(context)
+    controller_timer = LaunchConfiguration("controller_timer").perform(context)
+    controller = LaunchConfiguration("controller").perform(context)
+    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(
+        context
+    )
 
-    webots = WebotsLauncher(world=world_path, ros2_supervisor=True)
+    webots = WebotsLauncher(world=world, ros2_supervisor=True)
 
     driver = WebotsController(
         robot_name=robot_name,
         parameters=[
             {
-                "robot_description": xacro_file,
+                "robot_description": description,
                 "use_sim_time": False,
                 "set_robot_state_publisher": False,
             },
-            LaunchConfiguration("controller").perform(context),
+            controller,
         ],
         respawn=True,
     )
@@ -51,10 +55,11 @@ def _spawn_setup(context, *args, **kwargs):
         ),
         launch_arguments={
             "robot_name": robot_name,
-            "xacro_file": xacro_file,
+            "description": description,
             "transform": transform,
             "rotation": rotation,
-            "controller_timer": timer,
+            "controller_timer": controller_timer,
+            "initial_positions_file": initial_positions_file,
         }.items(),
     )