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
@@ -31,14 +31,21 @@ single_arm_velocity_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
+    # 厂商 MovejCANFD 示例默认低跟随；高跟随仅在验证规划轨迹后单独开启。
+    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: 0.25
    max_angular_speed: 0.6
    max_line_acc: 1.3