51 lines
1.6 KiB
YAML
51 lines
1.6 KiB
YAML
# 左臂单独调试配置：XR 相对位移控制 RM75 TCP。
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# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
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single_arm_velocity_teleop:
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ros__parameters:
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arm_name: left_rm75
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controller_topic: /xr/left_controller
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control_rate_hz: 50.0
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command_timeout_sec: 0.12
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scale: 0.75
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kp_linear: 1.8
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deadband_m: 0.002
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low_pass_alpha: 0.35
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max_linear_speed: 0.2
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enable_position_axes: [true, true, true]
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workspace_min: [-0.70, -0.60, 0.10]
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workspace_max: [0.70, 0.40, 0.70]
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cyl_radius_limit: [0.20, 0.60]
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low_z_threshold: 0.20
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low_z_min_radius: 0.21
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# 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。
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xr_to_robot_matrix: [0.0, -1.0, 0.0,
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0.0, 0.0, 1.0,
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-1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
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robot_ip: 192.168.192.18
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robot_port: 8080
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avoid_singularity: 0
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frame_type: 1
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follow: false
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configure_safety_limits: true
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max_line_speed: 1.0
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max_angular_speed: 1.5
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max_line_acc: 1.0
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max_angular_acc: 2.0
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joint_max_speed: 180.0
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joint_max_acc: 180.0
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move_to_initial_pose_on_connect: false
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initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
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initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
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init_move_speed: 20
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command_mode: pose_canfd
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canfd_trajectory_mode: 2
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canfd_radio: 0
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debug_topic_prefix: /xr_rm
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