48 lines
1.5 KiB
YAML
48 lines
1.5 KiB
YAML
# 右臂单独调试配置：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:
|
||
arm_name: right_rm75
|
||
controller_topic: /xr/right_controller
|
||
control_rate_hz: 50.0
|
||
command_timeout_sec: 0.12
|
||
|
||
scale: 1.0
|
||
kp_linear: 1.8
|
||
deadband_m: 0.002
|
||
low_pass_alpha: 0.7
|
||
max_linear_speed: 0.5
|
||
enable_position_axes: [true, true, true]
|
||
|
||
workspace_min: [-0.70, -0.60, 0.10]
|
||
workspace_max: [0.70, 0.40, 0.70]
|
||
cyl_radius_limit: [0.10, 0.70]
|
||
low_z_threshold: 0.1
|
||
low_z_min_radius: 0.1
|
||
|
||
# 现场模拟 XR 调试确认 X/Z 轴符号与原标定相反，因此翻转手柄 X、Z 两列。
|
||
xr_to_robot_matrix: [0.0, 1.0, 0.0,
|
||
0.0, 0.0, 1.0,
|
||
1.0, 0.0, 0.0]
|
||
|
||
use_mock: false
|
||
mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
|
||
robot_ip: 192.168.192.19
|
||
robot_port: 8080
|
||
avoid_singularity: 1
|
||
frame_type: 1
|
||
follow: false
|
||
configure_safety_limits: true
|
||
max_line_speed: 1.0
|
||
max_angular_speed: 1.5
|
||
max_line_acc: 1.0
|
||
max_angular_acc: 2.0
|
||
joint_max_speed: 180.0
|
||
joint_max_acc: 180.0
|
||
move_to_initial_pose_on_connect: false
|
||
initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
|
||
initial_tcp_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
|
||
init_move_speed: 20
|
||
debug_topic_prefix: /xr_rm
|