109 lines
3.5 KiB
YAML
Executable File
109 lines
3.5 KiB
YAML
Executable File
# 阶段一：PICO 遥操作双 RM75 平台配置。
|
||
#
|
||
# 当前控制方式是“相对位姿透传”：
|
||
# 按下 grip 时锁定当前手柄位姿和 TCP 位姿，之后将手柄相对位移映射为目标
|
||
# TCP 位姿，经过工作空间限幅、目标低通和单帧步长限制后，通过 rm_movep_canfd
|
||
# 下发。cmd_vel 仅作为目标位姿变化率调试话题，不是机械臂执行命令。
|
||
# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
|
||
|
||
left_arm_teleop:
|
||
ros__parameters:
|
||
arm_name: left_rm75
|
||
controller_topic: /xr/left_controller
|
||
control_rate_hz: 90.0
|
||
command_timeout_sec: 0.12
|
||
|
||
# 位姿目标生成与平滑参数。
|
||
scale: 0.75
|
||
deadband_m: 0.001
|
||
target_filter_alpha: 0.65
|
||
target_filter_alpha_fast: 0.9
|
||
target_filter_fast_threshold_m: 0.03
|
||
max_linear_speed: 0.2
|
||
enable_position_axes: [true, true, true]
|
||
current_pose_poll_hz: 10.0
|
||
|
||
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
|
||
|
||
# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
|
||
# 映射关系：机器人位移增量 = [-手柄y, 手柄z, -手柄x]。
|
||
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: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
|
||
robot_ip: 192.168.192.18
|
||
robot_port: 8080
|
||
avoid_singularity: 0
|
||
frame_type: 1
|
||
follow: false
|
||
canfd_trajectory_mode: 2
|
||
canfd_radio: 0
|
||
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: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
|
||
initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
|
||
init_move_speed: 20
|
||
debug_topic_prefix: /xr_rm
|
||
|
||
right_arm_teleop:
|
||
ros__parameters:
|
||
arm_name: right_rm75
|
||
controller_topic: /xr/right_controller
|
||
control_rate_hz: 90.0
|
||
command_timeout_sec: 0.12
|
||
|
||
scale: 0.75
|
||
deadband_m: 0.001
|
||
target_filter_alpha: 0.65
|
||
target_filter_alpha_fast: 0.9
|
||
target_filter_fast_threshold_m: 0.03
|
||
max_linear_speed: 0.2
|
||
enable_position_axes: [true, true, true]
|
||
current_pose_poll_hz: 10.0
|
||
|
||
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
|
||
|
||
# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
|
||
# 映射关系：机器人位移增量 = [手柄y, 手柄z, 手柄x]。
|
||
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
|
||
canfd_trajectory_mode: 2
|
||
canfd_radio: 0
|
||
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
|