ZhengLiu-cart/HarvestingRealman
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remove kine parameters, like tool/work frames, from rm pkg to ctrl pkg

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This commit is contained in:
LiuzhengSJ
2026-07-06 15:38:14 +01:00
parent e3ca28fb99
commit 97e3cc00d3
5 changed files with 157 additions and 65 deletions
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55
harvest_arm_rm/config/config.yaml
View File

@ -1,31 +1,21 @@
harvest_arm_rm:
/**:
ros__parameters:
robot_ip: "192.168.1.19"
host_ip: "192.168.1.101"
port: 8089
tool_name: "scissor"
tool_names: ["scissor", "omnipic", "minisci", "vacuum", "no_tool"]
initial_joint: [-82.60, 20.28, -32.15, 50.28, 17.28, 64.055, -20.62]
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: 300.0 # deg/s
max_joint_acc: 10000.0
interval: 0.02
max_cartesian_speed: 1.0 # m/s
max_cartesian_angular_speed: 1.5 # rad/s
max_cartesian_acc: 1.0
max_cartesian_angular_acc: 2.0
bound_cartesian: [
-0.3, -0.5, -0.1, 0.3, 0.5, 0.6
]
harvest_arm_ctrl:
ros__parameters:
tool_name: "scissor"
tool_names: ["scissor", "omnipic", "minisci", "vacuum", "no_tool"]
qp_iteration: 200
arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
@ -53,12 +43,35 @@ harvest_arm_rm:
0.0, 0.0, 0.0, 0.0
]
harvest_arm_rm:
ros__parameters:
robot_ip: "192.168.1.19"
host_ip: "192.168.1.101"
port: 8089
initial_joint: [-82.60, 20.28, -32.15, 50.28, 17.28, 64.055, -20.62]
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
max_cartesian_acc: 1.0
max_cartesian_angular_acc: 2.0
bound_cartesian: [
-0.3, -0.5, -0.1, 0.3, 0.5, 0.6
]
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
arm_ctrl_voltage: 2 # 0: 0V, 2: 12V, 3: 24V

2
harvest_arm_rm/launch/rm_arm_rviz.launch.py
View File

@ -2,6 +2,7 @@
# -*- coding: utf-8 -*-
import os
from pathlib import Path
from launch import LaunchDescription
from launch_ros.actions import Node
@ -23,6 +24,7 @@ def generate_launch_description():
"urdf_rm75",
"RM75.urdf"
)
meshes_dir = str(Path(urdf_file).parent)
with open(urdf_file, "r") as f:
robot_description = f.read()