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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/left_arm_rm75.yaml
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# 左臂单独调试配置：无末端执行器，仅 XR 相对位移控制 RM75 TCP。
# 左臂单独调试配置：XR 相对位移控制 RM75 TCP。
# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
single_arm_velocity_teleop:
ros__parameters: