ZhengLiu-cart/HarvestingRealman
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add the Rviz part

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LiuzhengSJ
2026-06-26 15:54:22 +01:00
parent 68a14b980c
commit 923a64d6a0
18 changed files with 786 additions and 23 deletions
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6
harvest_arm_rm/config/config.yaml
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@ -14,8 +14,8 @@ harvest_arm_rm:
max_joint: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
min_joint: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
max_joint_speed: 180.0 # deg/s
max_joint_acc: 600.0
max_joint_speed: 300.0 # deg/s
max_joint_acc: 10000.0
max_cartesian_speed: 1.0 # m/s
max_cartesian_angular_speed: 1.5 # rad/s
@ -55,6 +55,8 @@ harvest_arm_rm:
action_topic: "/action/arm"
observation_topic: "/observation/arm"
action_rviz_topic: "/action/arm_rviz"
observation_rviz_topic: "/observation/arm_rviz"
interval: 0.02
kp_j : 1.0