43 lines
1.3 KiB
Markdown
43 lines
1.3 KiB
Markdown
# RM75 Right-Arm High-Follow YAML Defaults Implementation Plan
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> **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.
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**Goal:** Make right-arm single-arm debugging default to RealMan high-follow complete passthrough for phase-two testing.
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**Architecture:** Change only the existing right-arm YAML parameters. Keep launch, left-arm, dual-arm, speed limits, safety limits, timeouts, and stop behavior unchanged.
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**Tech Stack:** ROS2 Humble, YAML, pytest, colcon
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---
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### Task 1: Change right-arm CANFD defaults
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**Files:**
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- Modify: `xr_rm_bringup/config/right_arm_rm75.yaml`
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- [ ] **Step 1: Run a failing configuration assertion**
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Run a Python YAML assertion requiring `follow is True` and
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`canfd_trajectory_mode == 0`.
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Expected: FAIL because the current values are `false` and `2`.
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- [ ] **Step 2: Apply the minimal configuration change**
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```yaml
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follow: true
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canfd_trajectory_mode: 0
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```
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- [ ] **Step 3: Verify configuration and regressions**
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Run the same YAML assertion and expect PASS. Then run:
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```bash
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source /opt/ros/humble/setup.bash
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python3 -m pytest -q src/xr_rm_teleop/test
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colcon build --symlink-install --executor sequential
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```
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Expected: all tests and all four workspace packages pass.
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