feat: Implement RM75 joint feedback and fault recovery design

2026-07-29 19:39:12 +08:00
parent f795c06d44
commit 6d22d5600a
12 changed files with 1800 additions and 108 deletions
@@ -11,8 +11,9 @@ left_arm_teleop:
  ros__parameters:
    arm_name: left_rm75
    controller_topic: /xr/left_controller
-    control_rate_hz: 125.0
+    control_rate_hz: 90.0
    command_timeout_sec: 0.12
+    feedback_resync_timeout_sec: 0.5

    # 位姿目标生成与平滑参数。
    scale: 0.75
@@ -68,8 +69,9 @@ right_arm_teleop:
  ros__parameters:
    arm_name: right_rm75
    controller_topic: /xr/right_controller
-    control_rate_hz: 125.0
+    control_rate_hz: 90.0
    command_timeout_sec: 0.12
+    feedback_resync_timeout_sec: 0.5

    scale: 0.75
    deadband_m: 0.001
@@ -5,8 +5,9 @@ single_arm_velocity_teleop:
  ros__parameters:
    arm_name: left_rm75
    controller_topic: /xr/left_controller
-    control_rate_hz: 125.0
+    control_rate_hz: 90.0
    command_timeout_sec: 0.12
+    feedback_resync_timeout_sec: 0.5

    # 手柄相对位姿 -> 目标 TCP 位姿；随后做目标低通、姿态低通和单帧步长限制。
    scale: 1.0
@@ -5,8 +5,9 @@ single_arm_velocity_teleop:
  ros__parameters:
    arm_name: right_rm75
    controller_topic: /xr/right_controller
-    control_rate_hz: 125.0
+    control_rate_hz: 90.0
    command_timeout_sec: 0.12
+    feedback_resync_timeout_sec: 0.5

    scale: 0.7
    deadband_m: 0.001