1.3 KiB
RM75 Right-Arm High-Follow YAML Defaults Implementation Plan
For agentic workers: REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (
- [ ]) syntax for tracking.
Goal: Make right-arm single-arm debugging default to RealMan high-follow complete passthrough for phase-two testing.
Architecture: Change only the existing right-arm YAML parameters. Keep launch, left-arm, dual-arm, speed limits, safety limits, timeouts, and stop behavior unchanged.
Tech Stack: ROS2 Humble, YAML, pytest, colcon
Task 1: Change right-arm CANFD defaults
Files:
-
Modify:
xr_rm_bringup/config/right_arm_rm75.yaml -
Step 1: Run a failing configuration assertion
Run a Python YAML assertion requiring follow is True and
canfd_trajectory_mode == 0.
Expected: FAIL because the current values are false and 2.
- Step 2: Apply the minimal configuration change
follow: true
canfd_trajectory_mode: 0
- Step 3: Verify configuration and regressions
Run the same YAML assertion and expect PASS. Then run:
source /opt/ros/humble/setup.bash
python3 -m pytest -q src/xr_rm_teleop/test
colcon build --symlink-install --executor sequential
Expected: all tests and all four workspace packages pass.