feat: Implement UDP feedback for RM75 robot arms

2026-07-29 15:26:59 +08:00
parent 687a0b401a
commit 08996434e5
16 changed files with 1600 additions and 329 deletions
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+# RM75 Right-Arm High-Follow YAML Defaults Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** Make right-arm single-arm debugging default to RealMan high-follow complete passthrough for phase-two testing.
+
+**Architecture:** Change only the existing right-arm YAML parameters. Keep launch, left-arm, dual-arm, speed limits, safety limits, timeouts, and stop behavior unchanged.
+
+**Tech Stack:** ROS2 Humble, YAML, pytest, colcon
+
+---
+
+### Task 1: Change right-arm CANFD defaults
+
+**Files:**
+- Modify: `xr_rm_bringup/config/right_arm_rm75.yaml`
+
+- [ ] **Step 1: Run a failing configuration assertion**
+
+Run a Python YAML assertion requiring `follow is True` and
+`canfd_trajectory_mode == 0`.
+
+Expected: FAIL because the current values are `false` and `2`.
+
+- [ ] **Step 2: Apply the minimal configuration change**
+
+```yaml
+follow: true
+canfd_trajectory_mode: 0
+```
+
+- [ ] **Step 3: Verify configuration and regressions**
+
+Run the same YAML assertion and expect PASS. Then run:
+
+```bash
+source /opt/ros/humble/setup.bash
+python3 -m pytest -q src/xr_rm_teleop/test
+colcon build --symlink-install --executor sequential
+```
+
+Expected: all tests and all four workspace packages pass.