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Add URDF model for RM75-B OmniPicker with detailed link and joint specifications

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YikaiFu-cart
2026-07-28 17:06:06 +08:00
parent fae5a560fb
commit 2a12eea4d5
34 changed files with 2006 additions and 403 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
+4 -4
View File
@@ -11,7 +11,7 @@ left_arm_teleop:
ros__parameters:
arm_name: left_rm75
controller_topic: /xr/left_controller
control_rate_hz: 90.0
control_rate_hz: 125.0
command_timeout_sec: 0.12
# 位姿目标生成与平滑参数。
@@ -26,7 +26,7 @@ left_arm_teleop:
enable_orientation_axes: [true, true, true]
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
@@ -62,7 +62,7 @@ right_arm_teleop:
ros__parameters:
arm_name: right_rm75
controller_topic: /xr/right_controller
control_rate_hz: 90.0
control_rate_hz: 125.0
command_timeout_sec: 0.12
scale: 0.75
@@ -76,7 +76,7 @@ right_arm_teleop:
enable_orientation_axes: [true, true, true]
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
xr_rm_bringup/config/left_arm_rm75.yaml
+2 -2
View File
@@ -5,7 +5,7 @@ single_arm_velocity_teleop:
ros__parameters:
arm_name: left_rm75
controller_topic: /xr/left_controller
control_rate_hz: 90.0
control_rate_hz: 125.0
command_timeout_sec: 0.12
# 手柄相对位姿 -> 目标 TCP 位姿；随后做目标低通、姿态低通和单帧步长限制。
@@ -20,7 +20,7 @@ single_arm_velocity_teleop:
enable_orientation_axes: [true, true, true]
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
xr_rm_bringup/config/right_arm_rm75.yaml
+6 -6
View File
@@ -5,7 +5,7 @@ single_arm_velocity_teleop:
ros__parameters:
arm_name: right_rm75
controller_topic: /xr/right_controller
control_rate_hz: 90.0
control_rate_hz: 125.0
command_timeout_sec: 0.12
scale: 0.7
@@ -20,9 +20,9 @@ single_arm_velocity_teleop:
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.5
workspace_min: [-0.60, -0.60, 0.10]
workspace_max: [0.60, 0.70, 0.55]
cyl_radius_limit: [0.10, 0.70]
workspace_min: [-0.70, -0.70, 0.10]
workspace_max: [0.70, 0.70, 0.75]
cyl_radius_limit: [0.10, 0.80]
low_z_threshold: 0.1
low_z_min_radius: 0.1
@@ -35,7 +35,7 @@ single_arm_velocity_teleop:
robot_ip: 192.168.192.19
robot_port: 8080
avoid_singularity: 1
follow: false
follow: False
canfd_trajectory_mode: 2
canfd_radio: 0
configure_safety_limits: true
@@ -45,7 +45,7 @@ single_arm_velocity_teleop:
max_angular_acc: 3.0
joint_max_speed: 180.0
joint_max_acc: 300.0
move_to_initial_pose_on_connect: True
move_to_initial_pose_on_connect: false
initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
init_move_speed: 20
debug_topic_prefix: /xr_rm
xr_rm_bringup/launch/arm_debug.launch.py
+4 -3
View File
@@ -35,8 +35,9 @@ def _rm75_urdf() -> PathJoinSubstitution:
return PathJoinSubstitution([
FindPackageShare("xr_rm_teleop"),
"models",
"rm75",
"RM75-B.urdf",
"rm75_omnipicker",
"urdf",
"RM75-B_OmniPicker_fixed.urdf",
])
@@ -286,7 +287,7 @@ def generate_launch_description() -> LaunchDescription:
# 非空时作为左右臂全局覆盖，例如 avoid_singularity:=0。
DeclareLaunchArgument("avoid_singularity", default_value=""),
# 每周期同步一次实际关节反馈、执行一次 Placo QP，再发送 rm_movej_canfd。
DeclareLaunchArgument("control_rate_hz", default_value="90.0"),
DeclareLaunchArgument("control_rate_hz", default_value="125.0"),
# 默认低跟随；高跟随请确认控制器和网络能稳定满足厂商周期要求后再打开。
DeclareLaunchArgument("follow", default_value="false"),
DeclareLaunchArgument("configure_safety_limits", default_value="true"),