feat: 接入双 RM75 逆解模型

xr_rm_bringup/launch/arm_debug.launch.py

@@ -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",

xr_rm_teleop/setup.py

@@ -24,6 +24,15 @@ setup(
             f"share/{package_name}/models/rm75/meshes",
             glob("models/rm75/meshes/*.STL"),
         ),
+        (
+            f"share/{package_name}/models/dual_rm75",
+            ["models/dual_rm75/Dual_arm.urdf"],
+        ),
+        (
+            f"share/{package_name}/models/dual_rm75/meshes",
+            glob("models/dual_rm75/meshes/*.STL")
+            + glob("models/dual_rm75/meshes/*.stl"),
+        ),
         (
             f"share/{package_name}/models/rm75_omnipicker/urdf",
             glob("models/rm75_omnipicker/urdf/*.urdf"),

xr_rm_teleop/xr_rm_teleop/single_arm_velocity_teleop.py

@@ -325,6 +325,7 @@ class SingleArmVelocityTeleop(Node):
         self._ik_solver = PlacoIkSolver(
             str(self.get_parameter("robot_urdf_path").value),
             self._dt,
+            peripheral_arm,
         )
         self._adapter = self._make_adapter()
         self._adapter.connect()