46 lines
1.3 KiB
YAML
46 lines
1.3 KiB
YAML
# 右臂单独调试配置：无末端执行器，仅 XR 相对位移控制 RM75 TCP。
|
|
|
|
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: 0.75
|
|
kp_linear: 1.8
|
|
deadband_m: 0.002
|
|
low_pass_alpha: 0.35
|
|
max_linear_speed: 0.2
|
|
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: [0.20, 0.60]
|
|
low_z_threshold: 0.20
|
|
low_z_min_radius: 0.21
|
|
|
|
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
|