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.
46 lines
1.6 KiB
XML
46 lines
1.6 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>iiwa_bringup</name>
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<version>2026.5.31</version>
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<description>Launch files for cobot: Webots simulation, real robot via FRI, MoveIt motion planning and RViz visualization</description>
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<maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<!-- Внутренние пакеты проекта -->
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<exec_depend>iiwa_utils</exec_depend>
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<exec_depend>iiwa_planning</exec_depend>
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<exec_depend>iiwa_config</exec_depend>
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<exec_depend>iiwa_description</exec_depend>
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<exec_depend>foxglove_bridge</exec_depend>
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<!-- ROS 2 infrastructure -->
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<!-- MoveIt 2 -->
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<exec_depend>moveit_ros_move_group</exec_depend>
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<exec_depend>moveit_configs_utils</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<!-- ros2_control -->
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<exec_depend version_gte="4.48.0">controller_manager</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>joint_trajectory_controller</exec_depend>
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<exec_depend>forward_command_controller</exec_depend>
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<!-- Webots -->
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<exec_depend>webots_ros2_driver</exec_depend>
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<exec_depend>webots_ros2_control</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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