YikaiFu-cart/acRealman_xr
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remove unnecessity files

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YikaiFu-cart
2026-05-21 17:39:42 +08:00
parent 4dea1ae530
commit 58fd44b415
7 changed files with 4 additions and 172 deletions
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5
.gitignore vendored
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@ -17,6 +17,10 @@ CMakeLists.txt.user
srv/_*.py
*.pcd
*.pyc
__pycache__/
.pytest_cache/
.mypy_cache/
*.egg-info/
qtcreator-*
*.user
@ -37,4 +41,3 @@ AMENT_IGNORE
# Built Visual Studio Code Extensions
*.vsix

7
README.md
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@ -132,13 +132,6 @@ ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false
ros2 launch xr_rm_bringup dual_arm_realman.launch.py move_to_initial_pose_on_connect:=true
```
单臂入口仍保留，默认按右臂配置：
```bash
ros2 launch xr_rm_bringup single_arm_mock.launch.py arm:=right
ros2 launch xr_rm_bringup single_arm_realman.launch.py arm:=right robot_ip:=192.168.192.19
```
## UDP JSON 格式
单个手柄数据：

48
xr_rm_bringup/config/single_arm_rm75.yaml
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@ -1,48 +0,0 @@
# 单臂真机 RM75 入口配置。
# 默认按最新 acDual-arm 配置中的右臂参数运行，便于先单独验证右臂方向和急停。
single_arm_velocity_teleop:
ros__parameters:
arm_name: right_rm75
controller_topic: /xr/right_controller
control_rate_hz: 50.0
command_timeout_sec: 0.12
scale: 0.75
kp_linear: 2.0
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
enable_position_axes: [true, true, true]
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
# 右臂 PICO/OpenXR 相对位移到 RM75 base 坐标的初始映射：
# 机器人位移增量 = [手柄y, -手柄z, -手柄x]。
xr_to_robot_matrix: [0.0, 1.0, 0.0,
0.0, 0.0, -1.0,
-1.0, 0.0, 0.0]
use_mock: false
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
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

28
xr_rm_bringup/launch/single_arm_mock.launch.py
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@ -1,28 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
arm_debug_launch = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"launch",
"arm_debug.launch.py",
])
return LaunchDescription([
DeclareLaunchArgument("arm", default_value="right"),
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(arm_debug_launch),
launch_arguments={
"arm": LaunchConfiguration("arm"),
"use_mock": "true",
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
}.items(),
),
])

37
xr_rm_bringup/launch/single_arm_realman.launch.py
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@ -1,37 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
arm_debug_launch = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"launch",
"arm_debug.launch.py",
])
return LaunchDescription([
DeclareLaunchArgument("arm", default_value="right"),
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
# 兼容旧命令：robot_ip 仍作为右臂 IP 覆盖入口。
DeclareLaunchArgument("robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(arm_debug_launch),
launch_arguments={
"arm": LaunchConfiguration("arm"),
"use_mock": "false",
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"left_robot_ip": LaunchConfiguration("left_robot_ip"),
"right_robot_ip": LaunchConfiguration("robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": LaunchConfiguration("move_to_initial_pose_on_connect"),
}.items(),
),
])

49
xr_rm_teleop/config/single_arm.yaml
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@ -1,49 +0,0 @@
# 单臂模拟/默认配置。
# 默认按最新 acDual-arm 配置中的右臂参数运行，使模拟和真机单臂测试使用同一套坐标约定。
single_arm_velocity_teleop:
ros__parameters:
arm_name: right_rm75
controller_topic: /xr/right_controller
control_rate_hz: 50.0
command_timeout_sec: 0.12
scale: 0.75
kp_linear: 2.0
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
enable_position_axes: [true, true, true]
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
# 右臂 PICO/OpenXR 相对位移到 RM75 base 坐标的初始映射：
# 机器人位移增量 = [手柄y, -手柄z, -手柄x]。
xr_to_robot_matrix: [0.0, 1.0, 0.0,
0.0, 0.0, -1.0,
-1.0, 0.0, 0.0]
use_mock: true
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
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

2
xr_rm_teleop/setup.py
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@ -1,4 +1,3 @@
from glob import glob
from setuptools import setup
package_name = "xr_rm_teleop"
@ -10,7 +9,6 @@ setup(
data_files=[
("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
(f"share/{package_name}", ["package.xml"]),
(f"share/{package_name}/config", glob("config/*.yaml")),
],
install_requires=["setuptools"],
zip_safe=True,