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

README.md

@@ -1,6 +1,18 @@
-Подмена файла по пути обязательна: `/opt/ros/rolling/lib/webots_ros2_driver/ros2_supervisor.py`
+## Описание пакетов
 
-> необходимо `warn` заменить на `warning` в логере
+|Наименование|описание|
+|---|---|
+|iiwa_bringup|Все необходимые файлы запуска расположены в этом пакете|
+|iiwa_config|Файлы конфигурации и основной `setting.yam` файл расположены внутри этого пакета|
+|iiwa_controller|Самописный контроллер на физического робота|
+|iiwa_description|urdf/xacro файлы, а также все 3D объекты и webots миры находятся в этом пакете|
+|iiwa_utils|Вспомогательные модули или функции для рабоы всей системы|
+
+
+
+> Вроде уже не обязательно
+Подмена файла по пути обязательна: `/opt/ros/rolling/lib/webots_ros2_driver/ros2_supervisor.py`
+необходимо `warn` заменить на `warning` в логере
 
 ```bash
 

src/iiwa_bringup/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(iiwa_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

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
+from iiwa_utils import converter, setting_loader
-
-
-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])
 
 
 def _runtime_setup(context, *args, **kwatgs):
     setup = []
 
-    robot_name = LaunchConfiguration("robot_name").perform(context)
+    settings = setting_loader.build_settings(
-    world_path = LaunchConfiguration("world").perform(context)
+        settings_path=LaunchConfiguration("setting").perform(context), check_files=True
-    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)
 
     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, 
+        parameters=[{"robot_description": robot_description, "use_sim_time": False}],
-                     "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,
+            "robot_name": str(settings.robot.name),
-            "xacro_file": xacro_file,
+            "description": str(settings.digital_twin.description),
-            "world": world_path,
+            "world": str(settings.digital_twin.webots.world),
-            "transform": transform,
+            "transform": str(settings.digital_twin.webots.transform),
-            "rotation": rotation,
+            "rotation": str(settings.digital_twin.webots.rotation),
-            "controller_timer": timer,
+            "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))
+        MoveItConfigsBuilder("iiwa7", package_name="iiwa_config")
-        .robot_description(file_path=xacro_file, mappings={
+        .robot_description(
-            "initial_positions_file": initial_positions_file,
+            file_path=settings.digital_twin.description,
-        })
+            mappings={
-        .robot_description_semantic(file_path=srdf_file)
+                "initial_positions_file": settings.controller.moveit.initial_positions
-        .robot_description_kinematics(file_path=kinematics_yaml)
+            },
-        .joint_limits(file_path=joint_limits_yaml)
+        )
-        .pilz_cartesian_limits(file_path=pilz_limits_yaml)
+        .robot_description_semantic(file_path=settings.controller.moveit.srdf)
-        .trajectory_execution(file_path=moveit_controllers_yaml)
+        .robot_description_kinematics(file_path=settings.controller.moveit.kinematics)
-        .moveit_cpp(file_path="/home/daniel/dev/ros2_iiwa7/src/iiwa_bringup/config/motion_planing.yaml") # TODO: сделать подстановочным значением
+        .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, 
+        OnProcessExit(target_action=rviz_launch, on_exit=[EmitEvent(event=Shutdown())])
-                      on_exit=[EmitEvent(event=Shutdown())])
     )
 
-    setup += [rsp_node, 
+    setup += [
-              webots_launch, 
+        rsp_node,
-              move_group,
+        webots_launch,
-              moveit_py_node, 
+        move_group,
-              rviz_launch, 
+        moveit_py_node,
-              shutdown_on_rviz_exit
+        rviz_launch,
-            ]
+        shutdown_on_rviz_exit,
+    ]
 
     return setup
 
 
 def generate_launch_description():
-    # Объявление аргументов командной строки
+    declare_rviz = DeclareLaunchArgument(
-    declare_description_pkg = _arg(
+        name="rviz",
-        "description_pkg",
+        default_value="0",
-        DESCRIPTION_PKG,
+        description="If true|1|yes then launch RViz/MoveIt branch (instead of controllers branch)",
-        "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_robot_name = _arg(
+    declacre_setting = DeclareLaunchArgument(
-        "robot_name",
+        name="setting",
-        "iiwa7",
+        default_value=PathJoinSubstitution(
-        "Robot name (used for TF and naming).",
+            [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,
+            declacre_setting,
-
-            declare_xacro_file,
-            declare_srdf_file,
-            declare_initial_positions,
-            declare_kinematics_yaml,
-            declare_joint_limits_yaml,
-            declare_pilz_limits_yaml,
-            declare_moveit_controllers_yaml,
-
             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_utils import converter
-from iiwa_bringup.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)
+    controller_timer = LaunchConfiguration("controller_timer").perform(context)
-
+    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(
-    robot_description = converter.load_robot_description(
+        context
-        model_path=xacro_file, robot_name=robot_name
     )
 
-    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(),
     )
 

src/iiwa_bringup/package.xml

@@ -2,18 +2,18 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_bringup</name>
-  <version>0.0.1</version>
+  <version>0.2.0</version>
-  <description>TODO: Package description</description>
+  <description>Файлы запуска проектов</description>
-  <maintainer email="grabardm@ml-dev.ru">Grabar Daniil</maintainer>
+  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
-  <test_depend>ament_copyright</test_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
-  <test_depend>ament_flake8</test_depend>
+  <exec_depend>iiwa_utils</exec_depend>
-  <test_depend>ament_pep257</test_depend>
+  
-  <test_depend>ament_xmllint</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>python3-pytest</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

src/iiwa_bringup/setup.cfg

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

src/iiwa_bringup/setup.py

@@ -1,58 +0,0 @@
-import os
-
-from setuptools import setup
-
-package_name = "iiwa_bringup"
-
-# Собираем список пакетов: основной + вложенные (если они есть).
-packages = [package_name]
-# Если есть подпапка utils с __init__.py — зарегистрируем её как iiwa_bringup.utils
-if os.path.isdir("utils") and os.path.isfile(os.path.join("utils", "__init__.py")):
-    packages.append(f"{package_name}.utils")
-
-# Соответствие имени пакета -> директория на диске.
-# iiwa_bringup -> текущая папка '.'
-# iiwa_bringup.utils -> ./utils
-package_dir = {
-    package_name: ".",
-}
-if f"{package_name}.utils" in packages:
-    package_dir[f"{package_name}.utils"] = os.path.join(".", "utils")
-
-
-def data_files_from_tree(src_dir: str, dst_root: str) -> list:
-    entries = []
-    if not os.path.isdir(src_dir):
-        return entries
-    EXCLUDE_DIRS = {".git", "__pycache__", ".pytest_cache", ".idea"}
-    EXCLUDES = {".DS_Store", "Thumbs.db"}
-    for root, dirs, files in os.walk(src_dir):
-        dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS]
-        file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES]
-        if not file_list:
-            continue
-        rel = os.path.relpath(root, src_dir)
-        dst_dir = os.path.join(dst_root, rel) if rel != "." else dst_root
-        entries.append((dst_dir, file_list))
-    return entries
-
-
-data_files = [(f"share/{package_name}", ["package.xml"])]
-data_files += data_files_from_tree("launch", f"share/{package_name}/launch")
-data_files += data_files_from_tree("config", f"share/{package_name}/config")
-data_files += data_files_from_tree("resource", f"share/{package_name}/resource")
-
-setup(
-    name=package_name,
-    version="0.0.1",
-    packages=packages,
-    package_dir=package_dir,
-    include_package_data=True,
-    data_files=data_files,
-    install_requires=["setuptools"],
-    zip_safe=False,
-    maintainer="Grabar Daniil",
-    maintainer_email="grabardm@ml-dev.ru",
-    description="iiwa bringup package",
-    license="Apache-2.0",
-)

src/iiwa_bringup/utils/converter.py

@@ -1,12 +0,0 @@
-import xacro
-from pathlib import Path
-
-
-def load_robot_description(model_path: Path, robot_name: str) -> str:
-    suffix = Path(model_path).suffix.lower()
-    if suffix == ".xacro":
-        return xacro.process_file(model_path, mappings={'name': str(robot_name)}).toxml()
-    elif suffix == ".urdf":
-        return Path(model_path).read_text(encoding="utf-8")
-    else:
-        raise FileNotFoundError("Supported file formats: xacro/urdf")

src/iiwa_config/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(iiwa_config)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+
+ament_package()

src/iiwa_config/config/rviz/rviz_moveit.rviz

@@ -271,7 +271,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 3.753772020339966
+      Distance: 3.119210720062256
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -286,10 +286,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6753981113433838
+      Pitch: 0.570398211479187
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.888577938079834
+      Yaw: 5.948578357696533
     Saved: ~
 Window Geometry:
   "":
@@ -311,5 +311,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 414
+  X: 60
-  Y: 160
+  Y: 60

src/iiwa_config/config/setting.yaml

@@ -0,0 +1,29 @@
+robot:
+  name: "iiwa7"
+  ip: "192.168.21.144"
+  port: 3000
+
+digital_twin:
+  webots:
+    world: pkg://iiwa_description/worlds/iiwa.wbt
+    transform: "-0.25 0 0.79"
+    rotation: "0 0 1 0"
+    controller_timer: "50"
+
+  rviz:
+    config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
+
+  description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
+
+controller:
+  controller_path: pkg://iiwa_config/config/moveit/iiwa_controller.yaml
+
+  moveit:
+    srdf: pkg://iiwa_config/config/moveit/iiwa7.srdf
+    kinematics: pkg://iiwa_config/config/moveit/kinematics.yaml
+    joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
+    pilz_limits: pkg://iiwa_config/config/moveit/pilz_cartesian_limits.yaml
+    initial_positions: pkg://iiwa_config/config/moveit/initial_positions.yaml
+    moveit_controllers: pkg://iiwa_config/config/moveit/moveit_controllers.yaml
+    moveit_cpp: pkg://iiwa_config/config/moveit/moveit_cpp.yaml
+

src/iiwa_config/package.xml

@@ -0,0 +1,18 @@
+<?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>iiwa_config</name>
+  <version>0.1.0</version>
+  <description>Пакет с настройками цифрового двойника и физического робота</description>
+  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/iiwa_description/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.8)
+project(iiwa_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY resource worlds urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/iiwa_description/package.xml

@@ -2,18 +2,17 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_description</name>
-  <version>0.0.1</version>
+  <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Описание робота в urdf/xacro а также описание webots мира</description>
-  <maintainer email="grabardm@ml-dev.ru">Grabar Daniil</maintainer>
+  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
-  <test_depend>ament_copyright</test_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
-  <test_depend>ament_flake8</test_depend>
+
-  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_xmllint</test_depend>
+  <test_depend>ament_lint_common</test_depend>
-  <test_depend>python3-pytest</test_depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

src/iiwa_description/setup.cfg

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

src/iiwa_description/setup.py

@@ -1,70 +0,0 @@
-import os
-
-from setuptools import find_packages, setup
-
-EXCLUDES = {".DS_Store", "Thumbs.db"}
-EXCLUDE_DIRS = {"__pycache__", ".pytest_cache", ".git", ".idea"}
-
-
-def data_files_from_tree(src_dir: str, dst_root: str) -> list:
-    """
-    Собирает data_files в формате, подходящем для setuptools.
-    Возвращает список пар (dst_path, [file1, file2, ...]).
-    """
-    entries = []
-
-    for root, dirs, files in os.walk(src_dir):
-        # исключаем служебные директории
-        dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS]
-
-        file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES]
-        if not file_list:
-            continue
-
-        rel = os.path.relpath(root, src_dir)
-        dst_dir = os.path.join(dst_root, rel) if rel != "." else dst_root
-        entries.append((dst_dir, file_list))
-
-    return entries
-
-
-package_name = "iiwa_description"
-
-resource_intsall_root = f"share/{package_name}/resource"
-meshes_intsall_root = f"share/{package_name}/meshes"
-urdf_intsall_root = f"share/{package_name}/urdf"
-worlds_intsall_root = f"share/{package_name}/worlds"
-protos_intsall_root = f"share/{package_name}/protos"
-
-
-data_files = [
-    ("share/" + package_name, ["package.xml"]),
-]
-
-data_files += data_files_from_tree("resource", resource_intsall_root)
-data_files += data_files_from_tree("meshes", meshes_intsall_root)
-data_files += data_files_from_tree("urdf", urdf_intsall_root)
-data_files += data_files_from_tree("worlds", worlds_intsall_root)
-data_files += data_files_from_tree("protos", protos_intsall_root)
-
-
-setup(
-    name=package_name,
-    version="0.0.1",
-    packages=find_packages(exclude=["test"]),
-    data_files=data_files,
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="Grabar Daniil",
-    maintainer_email="grabardm@ml-dev.ru",
-    description="TODO: Package description",
-    license="Apache-2.0",
-    extras_require={
-        "test": [
-            "pytest",
-        ],
-    },
-    entry_points={
-        "console_scripts": [],
-    },
-)

src/iiwa_description/urdf/iiwa7.urdf.xacro

@@ -3,11 +3,10 @@
 
     <!-- Аргукменты -->
     <xacro:arg name="initial_positions_file"
-           default="$(find iiwa_bringup)/config/initial_positions.yaml"/>
+               default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
 
     <xacro:property name="initial_positions"
-                value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
+                    value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
-
 
     <xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>

src/iiwa_object_spawner/setup.cfg

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

src/iiwa_utils/LICENSE

@@ -0,0 +1,202 @@
+
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src/iiwa_utils/iiwa_utils/converter.py

@@ -0,0 +1,25 @@
+from pathlib import Path
+from typing import Dict, Optional, Union
+
+import xacro
+
+
+def load_robot_description(
+    model_path: Union[str, Path],
+    robot_name: str,
+    xacro_args: Optional[Dict[str, str]] = None,
+) -> str:
+    model_path = Path(model_path)
+    suffix = model_path.suffix.lower()
+
+    if suffix == ".xacro":
+        mappings = {"name": str(robot_name)}
+        if xacro_args:
+            mappings.update({k: str(v) for k, v in xacro_args.items()})
+
+        return xacro.process_file(str(model_path), mappings=mappings).toxml()
+
+    if suffix == ".urdf":
+        return model_path.read_text(encoding="utf-8")
+
+    raise FileNotFoundError(f"Supported file formats: .xacro/.urdf, got: {model_path}")

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -0,0 +1,226 @@
+import os
+from dataclasses import dataclass, fields, is_dataclass
+from typing import Any, Dict, Type, TypeVar
+
+import yaml
+from ament_index_python.packages import get_package_share_directory
+
+T = TypeVar("T")
+
+
+@dataclass(frozen=True)
+class RobotCfg:
+    name: str
+    ip: str
+    port: int
+
+
+@dataclass(frozen=True)
+class WebotsCfg:
+    world: str
+    transform: str
+    rotation: str
+    controller_timer: str
+
+
+@dataclass(frozen=True)
+class RvizCfg:
+    config: str
+
+
+@dataclass(frozen=True)
+class DigitalTwinCfg:
+    webots: WebotsCfg
+    rviz: RvizCfg
+    description: str
+
+
+@dataclass(frozen=True)
+class MoveitCfg:
+    srdf: str
+    kinematics: str
+    joint_limits: str
+    pilz_limits: str
+    initial_positions: str
+    moveit_controllers: str
+    moveit_cpp: str
+
+
+@dataclass(frozen=True)
+class ControllerCfg:
+    controller_path: str
+    moveit: MoveitCfg
+
+
+class SettingsError(RuntimeError):
+    pass
+
+
+@dataclass(frozen=True)
+class Settings:
+    robot: RobotCfg
+    digital_twin: DigitalTwinCfg
+    controller: ControllerCfg
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Serialize dataclass tree -> dict (recursive)."""
+
+        def _convert(obj: Any) -> Any:
+            if is_dataclass(obj):
+                return {f.name: _convert(getattr(obj, f.name)) for f in fields(obj)}
+            if isinstance(obj, dict):
+                return {k: _convert(v) for k, v in obj.items()}
+            if isinstance(obj, (list, tuple)):
+                return [_convert(x) for x in obj]
+            return obj
+
+        return _convert(self)
+
+    def to_yaml(self) -> str:
+        return yaml.safe_dump(self.to_dict(), sort_keys=False, allow_unicode=True)
+
+    def save_yaml(self, path: str) -> None:
+        path = os.path.abspath(path)
+        os.makedirs(os.path.dirname(path), exist_ok=True)
+        with open(path, "w", encoding="utf-8") as f:
+            f.write(self.to_yaml())
+
+    @classmethod
+    def from_yaml(cls: Type[T], settings_path: str, check_files: bool = True) -> T:
+        return build_settings(settings_path=settings_path, check_files=check_files)
+
+
+def load_yaml(path: str) -> Dict[str, Any]:
+    path = os.path.abspath(path)
+    if not os.path.exists(path):
+        raise SettingsError(f"settings yaml not found: {path}")
+    with open(path, "r", encoding="utf-8") as f:
+        data = yaml.safe_load(f) or {}
+    if not isinstance(data, dict):
+        raise SettingsError("settings yaml root must be a mapping (dict)")
+    return data
+
+
+def resolve_path(value: str, settings_dir: str) -> str:
+    """
+    Supported:
+      - pkg://<pkg>/<rel>
+      - /abs/path
+      - ./relative or relative (relative to settings.yaml dir)
+    Returns absolute normalized path.
+    """
+    if not isinstance(value, str) or not value.strip():
+        raise SettingsError("empty path value in settings")
+
+    value = value.strip()
+
+    if value.startswith("pkg://"):
+        rest = value[len("pkg://") :]
+        if "/" not in rest:
+            raise SettingsError(f"bad pkg uri: {value} (need pkg://<pkg>/<path>)")
+        pkg, rel = rest.split("/", 1)
+        share = get_package_share_directory(pkg)
+        return os.path.normpath(os.path.join(share, rel))
+
+    if os.path.isabs(value):
+        return os.path.normpath(value)
+
+    return os.path.normpath(os.path.join(settings_dir, value))
+
+
+def require(d: Dict[str, Any], key: str) -> Any:
+    if key not in d:
+        raise SettingsError(f"missing key '{key}'")
+    return d[key]
+
+
+def assert_file(path: str, key: str) -> None:
+    if not os.path.exists(path):
+        raise SettingsError(f"file for '{key}' does not exist: {path}")
+    if not os.path.isfile(path):
+        raise SettingsError(f"path for '{key}' is not a file: {path}")
+
+
+def build_settings(settings_path: str, check_files: bool = True) -> Settings:
+    settings_path = os.path.abspath(settings_path)
+    settings_dir = os.path.dirname(settings_path)
+
+    raw = load_yaml(settings_path)
+
+    # robot
+    robot_raw = require(raw, "robot")
+    robot = RobotCfg(
+        name=str(require(robot_raw, "name")),
+        ip=str(require(robot_raw, "ip")),
+        port=int(require(robot_raw, "port")),
+    )
+
+    # digital_twin
+    dt_raw = require(raw, "digital_twin")
+    webots_raw = require(dt_raw, "webots")
+    rviz_raw = require(dt_raw, "rviz")
+
+    webots = WebotsCfg(
+        world=resolve_path(str(require(webots_raw, "world")), settings_dir),
+        transform=str(require(webots_raw, "transform")),
+        rotation=str(require(webots_raw, "rotation")),
+        controller_timer=int(require(webots_raw, "controller_timer")),
+    )
+
+    rviz = RvizCfg(config=resolve_path(str(require(rviz_raw, "config")), settings_dir))
+
+    digital_twin = DigitalTwinCfg(
+        webots=webots,
+        rviz=rviz,
+        description=resolve_path(str(require(dt_raw, "description")), settings_dir),
+    )
+
+    # controller, moveit
+    ctrl_raw = require(raw, "controller")
+    moveit_raw = require(ctrl_raw, "moveit")
+
+    moveit = MoveitCfg(
+        srdf=resolve_path(str(require(moveit_raw, "srdf")), settings_dir),
+        kinematics=resolve_path(str(require(moveit_raw, "kinematics")), settings_dir),
+        joint_limits=resolve_path(
+            str(require(moveit_raw, "joint_limits")), settings_dir
+        ),
+        pilz_limits=resolve_path(str(require(moveit_raw, "pilz_limits")), settings_dir),
+        initial_positions=resolve_path(
+            str(require(moveit_raw, "initial_positions")), settings_dir
+        ),
+        moveit_controllers=resolve_path(
+            str(require(moveit_raw, "moveit_controllers")), settings_dir
+        ),
+        moveit_cpp=resolve_path(str(require(moveit_raw, "moveit_cpp")), settings_dir),
+    )
+
+    controller = ControllerCfg(
+        controller_path=resolve_path(
+            str(require(ctrl_raw, "controller_path")), settings_dir
+        ),
+        moveit=moveit,
+    )
+
+    s = Settings(robot=robot, digital_twin=digital_twin, controller=controller)
+
+    if check_files:
+        assert_file(s.digital_twin.webots.world, "digital_twin.webots.world")
+        assert_file(s.digital_twin.rviz.config, "digital_twin.rviz.config")
+        assert_file(s.digital_twin.description, "digital_twin.description")
+        assert_file(s.controller.controller_path, "controller.controller_path")
+
+        assert_file(s.controller.moveit.srdf, "controller.moveit.srdf")
+        assert_file(s.controller.moveit.kinematics, "controller.moveit.kinematics")
+        assert_file(s.controller.moveit.joint_limits, "controller.moveit.joint_limits")
+        assert_file(s.controller.moveit.pilz_limits, "controller.moveit.pilz_limits")
+        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")
+
+    return s

src/iiwa_utils/package.xml

@@ -1,16 +1,15 @@
 <?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>iiwa_object_spawner</name>
+  <name>iiwa_utils</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
-  <description>TODO: Package description</description>
+  <description>Вспомогательные файлы для работы всей системы</description>
-  <maintainer email="grabardm@ml-dev.ru">Даниил Грабарь</maintainer>
+  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
-  <test_depend>ament_xmllint</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <export>

src/iiwa_utils/setup.cfg

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

src/iiwa_utils/setup.py

@@ -1,10 +1,10 @@
 from setuptools import find_packages, setup
 
-package_name = 'iiwa_object_spawner'
+package_name = 'iiwa_utils'
 
 setup(
     name=package_name,
-    version='0.0.1',
+    version='0.0.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -13,14 +13,14 @@ setup(
     ],
     install_requires=['setuptools'],
     zip_safe=True,
-    maintainer='Даниил Грабарь',
+    maintainer='daniel',
     maintainer_email='grabardm@ml-dev.ru',
-    description='TODO: Package description',
+    description='Вспомогательные файлы для работы всей системы',
     license='Apache-2.0',
     entry_points={
         'console_scripts': [
-            'object_spawner = iiwa_object_spawner.object_spawner:main',
+            'object_spawner = iiwa_utils.object_spawner:main',
-            "motion_planning_test = iiwa_object_spawner.motion_planing_test:main"
+            "motion_planning_test = iiwa_utils.motion_planing_test:main"
         ],
     },
 )