initial
This commit is contained in:
12
xr_rm_bringup/CMakeLists.txt
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12
xr_rm_bringup/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
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project(xr_rm_bringup)
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY
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config
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launch
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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94
xr_rm_bringup/config/dual_arm_rm75.yaml
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94
xr_rm_bringup/config/dual_arm_rm75.yaml
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# 阶段一：PICO 遥操作双 RM75 平台配置。
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#
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# 参数来源：acDual-arm-YikaiFuTest/realman_pkg/core/arg_cfg.py
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# - 左臂 IP：192.168.192.18
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# - 右臂 IP：192.168.192.19
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# - 左右臂工作空间和 IP 沿用最新 acDual-arm 配置。
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# - 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。
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#
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# 注意：当前项目仍然采用“手柄相对位移”控制方式。
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# 按下握持键时锁定当前手柄位姿和 TCP 位姿，之后只跟随相对位移。
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# acDual-arm 项目使用的是戴盟绝对 PoseStamped 重映射，因此这里只迁移
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# 坐标标定和安全参数，不迁移其绝对位姿控制链路。
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left_arm_teleop:
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ros__parameters:
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arm_name: left_rm75
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controller_topic: /xr/left_controller
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control_rate_hz: 50.0
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command_timeout_sec: 0.12
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# 实验台番茄测试先采用保守参数；完成三轴方向检查和实体急停测试后再提高速度。
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scale: 0.75
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kp_linear: 1.8
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deadband_m: 0.002
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low_pass_alpha: 0.35
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max_linear_speed: 0.04
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enable_position_axes: [true, true, true]
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# 来自 acDual-arm 的 bounds_p[left]：
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# x[-0.50, 0.50]，y[-0.60, -0.20]，z[0.10, 0.50]。
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workspace_min: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
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# 左臂 base 坐标：+X 向下，+Z 向右，前方工作区对应 -Y。
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# 映射关系：机器人位移增量 = [-手柄y, -手柄z, 手柄x]。
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xr_to_robot_matrix: [0.0, -1.0, 0.0,
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0.0, 0.0, -1.0,
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1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [-0.1560, -0.3476, 0.2689, -3.1100, -0.2840, -1.3180]
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robot_ip: 192.168.192.18
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robot_port: 8080
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avoid_singularity: 1
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frame_type: 1
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follow: false
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right_arm_teleop:
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ros__parameters:
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arm_name: right_rm75
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controller_topic: /xr/right_controller
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control_rate_hz: 50.0
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command_timeout_sec: 0.12
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scale: 0.75
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kp_linear: 1.8
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deadband_m: 0.002
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low_pass_alpha: 0.35
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max_linear_speed: 0.04
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enable_position_axes: [true, true, true]
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# 来自 acDual-arm 的 bounds_p[right]。
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workspace_min: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
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# 右臂 base 坐标：+X 向上，+Z 向左，前方工作区对应 -Y。
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# 映射关系：机器人位移增量 = [手柄y, -手柄z, -手柄x]。
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xr_to_robot_matrix: [0.0, 1.0, 0.0,
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0.0, 0.0, -1.0,
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-1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
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robot_ip: 192.168.192.19
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robot_port: 8080
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avoid_singularity: 1
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frame_type: 1
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follow: false
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right_omnipicker_trigger_bridge:
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ros__parameters:
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# 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。
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controller_topic: /xr/right_controller
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command_topic: /omnipicker/right/force_ratio
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publish_rate_hz: 30.0
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stale_timeout_sec: 0.25
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require_grip: true
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trigger_deadband: 0.05
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open_command: 0.0
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min_close_command: 0.15
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max_close_command: 0.45
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low_pass_alpha: 0.5
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33
xr_rm_bringup/config/single_arm_rm75.yaml
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33
xr_rm_bringup/config/single_arm_rm75.yaml
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# 单臂真机 RM75 入口配置。
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# 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。
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single_arm_velocity_teleop:
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ros__parameters:
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arm_name: right_rm75
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controller_topic: /xr/right_controller
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control_rate_hz: 50.0
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command_timeout_sec: 0.12
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scale: 0.75
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kp_linear: 2.0
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deadband_m: 0.002
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low_pass_alpha: 0.35
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max_linear_speed: 0.04
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enable_position_axes: [true, true, true]
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workspace_min: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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# 右臂 PICO/OpenXR 相对位移到 RM75 base 坐标的初始映射：
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# 机器人位移增量 = [手柄y, -手柄z, -手柄x]。
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xr_to_robot_matrix: [0.0, 1.0, 0.0,
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0.0, 0.0, -1.0,
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-1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
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robot_ip: 192.168.192.19
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robot_port: 8080
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avoid_singularity: 1
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frame_type: 1
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follow: false
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55
xr_rm_bringup/launch/dual_arm_mock.launch.py
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55
xr_rm_bringup/launch/dual_arm_mock.launch.py
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"config",
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"dual_arm_rm75.yaml",
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])
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return LaunchDescription([
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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# 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"left_topic": "/xr/left_controller",
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"right_topic": "/xr/right_controller",
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}],
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),
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# 左臂模拟节点：不连接真实 RM75，只积分速度命令用于验证坐标方向。
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="left_arm_teleop",
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output="screen",
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parameters=[config_file, {"use_mock": True}],
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),
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# 右臂模拟节点：与左臂共用同一配置文件，但读取右手柄话题。
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="right_arm_teleop",
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output="screen",
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parameters=[config_file, {"use_mock": True}],
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),
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# 右手扳机键到 OmniPicker 归一化力控指令的桥接，模拟阶段用于检查话题输出。
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Node(
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package="xr_rm_teleop",
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executable="gripper_trigger_bridge",
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name="right_omnipicker_trigger_bridge",
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output="screen",
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parameters=[config_file],
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),
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])
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69
xr_rm_bringup/launch/dual_arm_realman.launch.py
Executable file
69
xr_rm_bringup/launch/dual_arm_realman.launch.py
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"config",
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LaunchConfiguration("robot_config"),
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])
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return LaunchDescription([
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
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DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
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DeclareLaunchArgument("robot_port", default_value="8080"),
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DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"left_topic": "/xr/left_controller",
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"right_topic": "/xr/right_controller",
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}],
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),
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="left_arm_teleop",
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output="screen",
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parameters=[
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config_file,
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{
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"use_mock": False,
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"robot_ip": LaunchConfiguration("left_robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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},
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],
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),
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="right_arm_teleop",
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output="screen",
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parameters=[
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config_file,
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{
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"use_mock": False,
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"robot_ip": LaunchConfiguration("right_robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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},
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],
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),
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Node(
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package="xr_rm_teleop",
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executable="gripper_trigger_bridge",
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name="right_omnipicker_trigger_bridge",
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output="screen",
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parameters=[config_file],
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),
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])
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36
xr_rm_bringup/launch/single_arm_mock.launch.py
Executable file
36
xr_rm_bringup/launch/single_arm_mock.launch.py
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_teleop"),
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"config",
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"single_arm.yaml",
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])
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return LaunchDescription([
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"topic": "/xr/right_controller",
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}],
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),
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="single_arm_velocity_teleop",
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output="screen",
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parameters=[config_file, {"use_mock": True}],
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),
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])
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46
xr_rm_bringup/launch/single_arm_realman.launch.py
Executable file
46
xr_rm_bringup/launch/single_arm_realman.launch.py
Executable file
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"config",
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LaunchConfiguration("robot_config"),
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])
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return LaunchDescription([
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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DeclareLaunchArgument("robot_ip", default_value="192.168.192.19"),
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DeclareLaunchArgument("robot_port", default_value="8080"),
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DeclareLaunchArgument("robot_config", default_value="single_arm_rm75.yaml"),
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"topic": "/xr/right_controller",
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}],
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),
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="single_arm_velocity_teleop",
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output="screen",
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parameters=[
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config_file,
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{
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"use_mock": False,
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"robot_ip": LaunchConfiguration("robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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},
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],
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),
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])
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18
xr_rm_bringup/package.xml
Executable file
18
xr_rm_bringup/package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>xr_rm_bringup</name>
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<version>0.1.0</version>
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<description>Launch and configuration package for XR RealMan teleoperation.</description>
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<maintainer email="user@example.com">Yikai Fu</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>xr_rm_input</exec_depend>
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<exec_depend>xr_rm_teleop</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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