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Add configuration files and launch scripts for left and right arm RM75 teleoperation

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YikaiFu-cart
2026-05-21 17:25:59 +08:00
parent 5a48619599
commit 4dea1ae530
16 changed files with 1576 additions and 122 deletions
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58
xr_rm_bringup/config/dual_arm_rm75.yaml
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@ -3,7 +3,7 @@
# 参数来源：acDual-arm-YikaiFuTest/realman_pkg/core/arg_cfg.py
# - 左臂 IP：192.168.192.18
# - 右臂 IP：192.168.192.19
# - 左右臂工作空间和 IP 沿用最新 acDual-arm 配置。
# - 左右臂工作空间、圆柱半径约束、初始化点位和 IP 沿用最新 acRealman 配置。
# - PICO 手柄位移映射根据论文 OpenXR 坐标和现场双臂 base 坐标图单独设置。
#
# 注意：当前项目仍然采用“手柄相对位移”控制方式。
@ -30,6 +30,9 @@ left_arm_teleop:
# x[-0.50, 0.50]，y[-0.60, -0.20]，z[0.10, 0.50]。
workspace_min: [-0.50, -0.60, 0.10]
workspace_max: [0.50, -0.20, 0.50]
cyl_radius_limit: [0.20, 0.60]
low_z_threshold: 0.20
low_z_min_radius: 0.21
# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
# 左臂 base 坐标：+X 向下，+Z 向右，前方工作区对应 -Y。
@ -39,12 +42,25 @@ left_arm_teleop:
1.0, 0.0, 0.0]
use_mock: false
mock_initial_pose: [-0.1560, -0.3476, 0.2689, -3.1100, -0.2840, -1.3180]
mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
robot_ip: 192.168.192.18
robot_port: 8080
avoid_singularity: 1
frame_type: 1
follow: false
configure_safety_limits: true
max_line_speed: 1.0
max_angular_speed: 1.5
max_line_acc: 1.0
max_angular_acc: 2.0
joint_max_speed: 180.0
joint_max_acc: 180.0
# 真机 launch 默认不自动移动；需要沿用 acRealman 上电初始化时再显式打开。
move_to_initial_pose_on_connect: false
initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
init_move_speed: 20
debug_topic_prefix: /xr_rm
right_arm_teleop:
ros__parameters:
@ -60,9 +76,13 @@ right_arm_teleop:
max_linear_speed: 0.04
enable_position_axes: [true, true, true]
# 来自 acDual-arm 的 bounds_p[right]。
workspace_min: [-0.50, -0.60, 0.10]
workspace_max: [0.50, -0.20, 0.50]
# 来自 acDual-arm 的 bounds_p[right]：
# x[-0.70, 0.50]，y[-0.60, 0.40]，z[0.10, 0.70]。
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.50, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
low_z_threshold: 0.20
low_z_min_radius: 0.21
# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
# 右臂 base 坐标：+X 向上，+Z 向左，前方工作区对应 -Y。
@ -72,23 +92,21 @@ right_arm_teleop:
-1.0, 0.0, 0.0]
use_mock: false
mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
robot_ip: 192.168.192.19
robot_port: 8080
avoid_singularity: 1
frame_type: 1
follow: false
right_omnipicker_trigger_bridge:
ros__parameters:
# 阶段一只使用右手两指夹爪；右手扳机键输出归一化力控指令。
controller_topic: /xr/right_controller
command_topic: /omnipicker/right/force_ratio
publish_rate_hz: 30.0
stale_timeout_sec: 0.25
require_grip: true
trigger_deadband: 0.05
open_command: 0.0
min_close_command: 0.15
max_close_command: 0.45
low_pass_alpha: 0.5
configure_safety_limits: true
max_line_speed: 1.0
max_angular_speed: 1.5
max_line_acc: 1.0
max_angular_acc: 2.0
joint_max_speed: 180.0
joint_max_acc: 180.0
move_to_initial_pose_on_connect: false
initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
initial_tcp_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
init_move_speed: 20
debug_topic_prefix: /xr_rm