Даниил Грабарь
3a5bc28bba
Add a native Webots marker for setting the active tool's TCP position and orientation. Dragging edits the preview; releasing the mouse submits one complete, checked joint trajectory with configured TCP speed limits. Unreachable targets reset the marker to the current TCP. Preserve coordinate, joint, and control-file commands through motion reservations and a controller action proxy. Give the gizmo lowest priority and finish its committed trajectory before dispatching queued regular commands, including waits longer than the former two-second service timeout. Place the patron TCP at its working end, 55.2 mm along local Z, and use the flange TCP when no tool is attached. Add digital_twin.tcp_gizmo configuration, ROS interfaces, launch integration, and regression coverage. Document operation, configuration, tool attachment, speed limits, and troubleshooting in both Russian and English. Validation: 42 Python tests and 8 C++ tests passed. Webots regressions covered one action per release, translation and rotation with and without a tool, unreachable targets, and ordinary commands waiting for gizmo completion.
93 lines
3.3 KiB
Python
93 lines
3.3 KiB
Python
import tempfile
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import yaml
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from launch import LaunchDescription
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from launch.actions import (
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EmitEvent,
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OpaqueFunction,
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RegisterEventHandler,
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)
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from launch.event_handlers import OnProcessExit
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from launch.events import Shutdown
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from launch.substitutions import LaunchConfiguration
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from webots_ros2_driver.webots_controller import WebotsController
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from webots_ros2_driver.webots_launcher import WebotsLauncher
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from iiwa_utils import converter
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def _spawn_setup(context, *args, **kwargs):
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robot_name = LaunchConfiguration("robot_name").perform(context)
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description = LaunchConfiguration("description").perform(context)
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world = LaunchConfiguration("world").perform(context)
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controller = LaunchConfiguration("controller").perform(context)
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initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
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gizmo_enabled = LaunchConfiguration("tcp_gizmo_enabled", default="false").perform(context) == "true"
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robot_description = converter.load_robot_description(
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model_path=description,
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robot_name=robot_name,
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xacro_args={
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"simulate": "true",
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"initial_positions_file": initial_positions_file,
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},
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)
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# robot_description cannot be passed via -p key:=value: rcl's YAML parser
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# chokes on XML content (quotes, angle brackets). Merge all params into one
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# temp file and pass via --params-file. A minimal dict triggers --ros-args
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# so WebotsController includes the required prefix in the command.
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with open(controller, "r") as f:
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controller_cfg = yaml.safe_load(f) or {}
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# FRI sets the hardware cycle dynamically in controllers.launch.py. Webots
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# has no FRI period, so preserve its established 200 Hz controller cycle.
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manager_params = controller_cfg.setdefault("controller_manager", {}).setdefault(
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"ros__parameters", {}
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)
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manager_params["update_rate"] = 200
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combined = {
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"/**": {"ros__parameters": {
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"robot_description": robot_description,
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"set_robot_state_publisher": False,
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}}
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}
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combined.update(controller_cfg)
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with tempfile.NamedTemporaryFile(
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mode="w", suffix=".yaml", delete=False, prefix="iiwa7_webots_"
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) as f:
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yaml.dump(combined, f, default_flow_style=False, allow_unicode=True)
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params_file = f.name
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webots = WebotsLauncher(world=world, ros2_supervisor=True)
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driver = WebotsController(
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robot_name=robot_name,
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remappings=[
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('/iiwa_arm_controller/joint_trajectory', '/cobot/tcp_gizmo/controller_command'),
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('/iiwa_arm_controller/follow_joint_trajectory', '/cobot/tcp_gizmo/follow_joint_trajectory'),
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] if gizmo_enabled else [],
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parameters=[
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{"use_sim_time": True}, # dict → triggers --ros-args prefix
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params_file, # file → --params-file (robot_description + controllers)
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],
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respawn=True,
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)
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shutdown_on_webots_exit = RegisterEventHandler(
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OnProcessExit(target_action=webots, on_exit=[EmitEvent(event=Shutdown())])
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)
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return [
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webots,
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webots._supervisor,
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driver,
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shutdown_on_webots_exit,
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]
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def generate_launch_description():
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return LaunchDescription([OpaqueFunction(function=_spawn_setup)])
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