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feat: add peripherals control

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YikaiFu-cart
2026-05-26 18:16:08 +08:00
parent f137e28ed7
commit fe3d80cd86
11 changed files with 421 additions and 2 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
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@ -10,6 +10,7 @@
# 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。
# acDual-arm 项目使用的是戴盟绝对 PoseStamped 重映射，因此这里只迁移
# 坐标标定和安全参数，不迁移其绝对位姿控制链路。
# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
left_arm_teleop:
ros__parameters: