YikaiFu-cart/acRealman_xr
Template
1
1
Fork 1
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Enhanced gripper control functionality

Browse Source
This commit is contained in:
YikaiFu-cart
2026-06-08 14:30:08 +08:00
parent 3fc8024648
commit d103439f01
11 changed files with 175 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
xr_rm_bringup/config/dual_arm_rm75.yaml
View File

@ -4,7 +4,7 @@
# 按下 grip 时锁定当前手柄位姿和 TCP 位姿，之后将手柄相对位移映射为目标
# TCP 位姿，经过工作空间限幅、目标低通和单帧步长限制后，通过 rm_movep_canfd
# 下发。cmd_vel 仅作为目标位姿变化率调试话题，不是机械臂执行命令。
# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
# 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。
left_arm_teleop:
ros__parameters: