YikaiFu-cart/acRealman_xr
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feat: Implement UDP feedback for RM75 robot arms

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YikaiFu-cart
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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xr_rm_bringup/config/dual_arm_rm75.yaml
+14 -2
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@@ -39,14 +39,20 @@ left_arm_teleop:
0.0, 0.0, 1.0,
-1.0, 0.0, 0.0]
use_mock: false
robot_ip: 192.168.192.18
robot_port: 8080
realtime_push_host_ip: 192.168.192.148
realtime_push_port: 8089
realtime_push_cycle_ms: 5
avoid_singularity: 0
follow: false
canfd_trajectory_mode: 2
canfd_radio: 0
configure_safety_limits: true
enable_tool_control: true
enable_trigger_gripper_control: true
trigger_close_threshold: 0.95
configure_peripheral_on_connect: true
max_line_speed: 1.0
max_angular_speed: 1.5
max_line_acc: 1.0
@@ -89,14 +95,20 @@ right_arm_teleop:
0.0, 0.0, 1.0,
1.0, 0.0, 0.0]
use_mock: false
robot_ip: 192.168.192.19
robot_port: 8080
realtime_push_host_ip: 192.168.192.148
realtime_push_port: 8090
realtime_push_cycle_ms: 5
avoid_singularity: 1
follow: false
canfd_trajectory_mode: 2
canfd_radio: 0
configure_safety_limits: true
enable_tool_control: true
enable_trigger_gripper_control: true
trigger_close_threshold: 0.95
configure_peripheral_on_connect: true
max_line_speed: 1.0
max_angular_speed: 1.5
max_line_acc: 1.0