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feat: 接入双 RM75 逆解模型

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YikaiFu-cart
2026-08-03 16:33:57 +08:00
parent 451de103b8
commit 56baabae7a
3 changed files with 16 additions and 7 deletions
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xr_rm_bringup/launch/arm_debug.launch.py
+6 -7
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@@ -31,13 +31,12 @@ def _config_file(name: str) -> PathJoinSubstitution:
])
def _rm75_urdf() -> PathJoinSubstitution:
def _dual_rm75_urdf() -> PathJoinSubstitution:
return PathJoinSubstitution([
FindPackageShare("xr_rm_teleop"),
"models",
"rm75_omnipicker",
"urdf",
"RM75-B_OmniPicker_fixed.urdf",
"dual_rm75",
"Dual_arm.urdf",
])
@@ -75,7 +74,7 @@ def _single_arm_node(
_config_file(config_name),
{
"use_mock": use_mock,
"robot_urdf_path": _rm75_urdf(),
"robot_urdf_path": _dual_rm75_urdf(),
"peripheral_config_file": _config_file("peripherals_rm75.yaml"),
"peripheral_arm": arm,
"tool_command_topic": f"/xr_rm/{arm_name}/tool_enable",
@@ -102,7 +101,7 @@ def _dual_arm_nodes(use_mock: bool) -> list[Node]:
config_file,
{
"use_mock": use_mock,
"robot_urdf_path": _rm75_urdf(),
"robot_urdf_path": _dual_rm75_urdf(),
"peripheral_config_file": _config_file("peripherals_rm75.yaml"),
"peripheral_arm": "left",
"tool_command_topic": "/xr_rm/left_rm75/tool_enable",
@@ -119,7 +118,7 @@ def _dual_arm_nodes(use_mock: bool) -> list[Node]:
config_file,
{
"use_mock": use_mock,
"robot_urdf_path": _rm75_urdf(),
"robot_urdf_path": _dual_rm75_urdf(),
"peripheral_config_file": _config_file("peripherals_rm75.yaml"),
"peripheral_arm": "right",
"tool_command_topic": "/xr_rm/right_rm75/tool_enable",