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Enhanced gripper control functionality

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YikaiFu-cart
2026-06-08 14:30:08 +08:00
parent 3fc8024648
commit d103439f01
11 changed files with 175 additions and 24 deletions
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4
xr_rm_bringup/config/right_arm_rm75.yaml
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@ -1,5 +1,5 @@
# 右臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
# 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。
single_arm_velocity_teleop:
ros__parameters:
@ -13,7 +13,7 @@ single_arm_velocity_teleop:
target_filter_alpha: 0.65
target_filter_alpha_fast: 0.9
target_filter_fast_threshold_m: 0.03
max_linear_speed: 0.3
max_linear_speed: 0.15
enable_position_axes: [true, true, true]
current_pose_poll_hz: 10.0