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adjust initial pose of robotic arms

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This commit is contained in:
YikaiFu-cart
2026-07-14 17:20:50 +08:00
parent 8aed1687f3
commit 33734524ed
12 changed files with 72 additions and 36 deletions
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24
xr_rm_bringup/launch/arm_debug.launch.py
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@ -26,6 +26,10 @@ def _config_file(name: str) -> PathJoinSubstitution:
])
def _initial_pose_override(value: str) -> dict[str, bool]:
return {} if value == "auto" else {"move_to_initial_pose_on_connect": _as_bool(value)}
def _udp_receiver_node() -> Node:
"""接收 PICO/XR UDP 数据，并发布左右手柄 ROS2 话题。"""
return Node(
@ -46,7 +50,7 @@ def _udp_receiver_node() -> Node:
def _single_arm_node(
arm: str,
use_mock: bool,
move_to_initial_pose: bool,
move_to_initial_pose: str,
avoid_singularity: int,
frame_type: int,
control_rate_hz: float,
@ -77,7 +81,7 @@ def _single_arm_node(
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
"move_to_initial_pose_on_connect": move_to_initial_pose,
**_initial_pose_override(move_to_initial_pose),
"enable_tool_control": enable_tool_control,
"enable_trigger_gripper_control": enable_trigger_gripper_control,
"trigger_close_threshold": trigger_close_threshold,
@ -96,7 +100,7 @@ def _arm_name(arm: str) -> str:
def _dual_arm_nodes(
use_mock: bool,
move_to_initial_pose: bool,
move_to_initial_pose: str,
left_avoid_singularity: int,
right_avoid_singularity: int,
frame_type: int,
@ -127,7 +131,7 @@ def _dual_arm_nodes(
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
"move_to_initial_pose_on_connect": move_to_initial_pose,
**_initial_pose_override(move_to_initial_pose),
"enable_tool_control": enable_tool_control,
"enable_trigger_gripper_control": enable_trigger_gripper_control,
"trigger_close_threshold": trigger_close_threshold,
@ -154,7 +158,7 @@ def _dual_arm_nodes(
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
"move_to_initial_pose_on_connect": move_to_initial_pose,
**_initial_pose_override(move_to_initial_pose),
"enable_tool_control": enable_tool_control,
"enable_trigger_gripper_control": enable_trigger_gripper_control,
"trigger_close_threshold": trigger_close_threshold,
@ -173,9 +177,9 @@ def _launch_setup(context, *args, **kwargs):
del args, kwargs
arm = LaunchConfiguration("arm").perform(context).strip().lower()
use_mock = _as_bool(LaunchConfiguration("use_mock").perform(context))
move_to_initial_pose = _as_bool(
LaunchConfiguration("move_to_initial_pose_on_connect").perform(context)
)
move_to_initial_pose = LaunchConfiguration(
"move_to_initial_pose_on_connect"
).perform(context).strip().lower()
avoid_override = LaunchConfiguration("avoid_singularity").perform(context).strip()
left_avoid_singularity = int(
avoid_override or LaunchConfiguration("left_avoid_singularity").perform(context)
@ -277,8 +281,8 @@ def generate_launch_description() -> LaunchDescription:
DeclareLaunchArgument("trigger_close_threshold", default_value="0.95"),
# 连接成功后是否配置外设；关闭后仅订阅开合话题，但开合前需要另行完成外设配置。
DeclareLaunchArgument("configure_peripheral_on_connect", default_value="true"),
# 默认不自动移动到初始点，确认安全区后再显式打开。
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
# auto 时由单/双臂 YAML 决定；也可显式传 true/false 覆盖。
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="auto"),
# OpaqueFunction 允许根据 arm/use_mock 等运行时参数动态生成节点。
OpaqueFunction(function=_launch_setup),
])