forked from YikaiFu-cart/acRealman_xr
dual arm control from sample_udp_sender.py
This commit is contained in:
@ -23,13 +23,13 @@ left_arm_teleop:
|
||||
kp_linear: 1.8
|
||||
deadband_m: 0.002
|
||||
low_pass_alpha: 0.35
|
||||
max_linear_speed: 0.04
|
||||
max_linear_speed: 0.12
|
||||
enable_position_axes: [true, true, true]
|
||||
|
||||
# 来自 acDual-arm 的 bounds_p[left]：
|
||||
# x[-0.50, 0.50]，y[-0.60, -0.20]，z[0.10, 0.50]。
|
||||
workspace_min: [-0.50, -0.60, 0.10]
|
||||
workspace_max: [0.50, -0.20, 0.50]
|
||||
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
|
||||
@ -45,7 +45,7 @@ left_arm_teleop:
|
||||
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: 1
|
||||
avoid_singularity: 0
|
||||
frame_type: 1
|
||||
follow: false
|
||||
configure_safety_limits: true
|
||||
@ -60,6 +60,9 @@ left_arm_teleop:
|
||||
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
|
||||
command_mode: pose_canfd
|
||||
canfd_trajectory_mode: 2
|
||||
canfd_radio: 0
|
||||
debug_topic_prefix: /xr_rm
|
||||
|
||||
right_arm_teleop:
|
||||
@ -73,7 +76,7 @@ right_arm_teleop:
|
||||
kp_linear: 1.8
|
||||
deadband_m: 0.002
|
||||
low_pass_alpha: 0.35
|
||||
max_linear_speed: 0.04
|
||||
max_linear_speed: 0.12
|
||||
enable_position_axes: [true, true, true]
|
||||
|
||||
# 来自 acDual-arm 的 bounds_p[right]：
|
||||
|
||||
@ -11,11 +11,11 @@ single_arm_velocity_teleop:
|
||||
kp_linear: 1.8
|
||||
deadband_m: 0.002
|
||||
low_pass_alpha: 0.35
|
||||
max_linear_speed: 0.04
|
||||
max_linear_speed: 0.2
|
||||
enable_position_axes: [true, true, true]
|
||||
|
||||
workspace_min: [-0.50, -0.60, 0.10]
|
||||
workspace_max: [0.50, -0.20, 0.50]
|
||||
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
|
||||
@ -28,7 +28,7 @@ single_arm_velocity_teleop:
|
||||
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: 1
|
||||
avoid_singularity: 0
|
||||
frame_type: 1
|
||||
follow: false
|
||||
configure_safety_limits: true
|
||||
@ -42,4 +42,7 @@ single_arm_velocity_teleop:
|
||||
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
|
||||
command_mode: pose_canfd
|
||||
canfd_trajectory_mode: 2
|
||||
canfd_radio: 0
|
||||
debug_topic_prefix: /xr_rm
|
||||
|
||||
@ -11,11 +11,11 @@ single_arm_velocity_teleop:
|
||||
kp_linear: 1.8
|
||||
deadband_m: 0.002
|
||||
low_pass_alpha: 0.35
|
||||
max_linear_speed: 0.04
|
||||
max_linear_speed: 0.2
|
||||
enable_position_axes: [true, true, true]
|
||||
|
||||
workspace_min: [-0.70, -0.60, 0.10]
|
||||
workspace_max: [0.50, 0.40, 0.70]
|
||||
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
|
||||
|
||||
@ -1,3 +1,10 @@
|
||||
"""单臂/双臂通用调试入口。
|
||||
|
||||
该 launch 文件用于现场调试阶段按需启动左臂、右臂或双臂，并可通过
|
||||
`use_mock` 在 mock 模式和 RM75 真机模式之间切换。它会固定启动 UDP
|
||||
手柄接收节点，再根据 `arm:=left|right|both` 选择对应的遥操作节点。
|
||||
"""
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
@ -6,10 +13,12 @@ from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def _as_bool(value: str) -> bool:
|
||||
"""把 launch 字符串参数转换成 Python bool，便于在 OpaqueFunction 中分支。"""
|
||||
return value.strip().lower() in ("1", "true", "yes", "on")
|
||||
|
||||
|
||||
def _config_file(name: str) -> PathJoinSubstitution:
|
||||
"""生成 xr_rm_bringup/config 下配置文件的可安装路径。"""
|
||||
return PathJoinSubstitution([
|
||||
FindPackageShare("xr_rm_bringup"),
|
||||
"config",
|
||||
@ -18,6 +27,7 @@ def _config_file(name: str) -> PathJoinSubstitution:
|
||||
|
||||
|
||||
def _udp_receiver_node() -> Node:
|
||||
"""接收 PICO/XR UDP 数据，并发布左右手柄 ROS2 话题。"""
|
||||
return Node(
|
||||
package="xr_rm_input",
|
||||
executable="udp_controller_receiver",
|
||||
@ -32,7 +42,15 @@ def _udp_receiver_node() -> Node:
|
||||
)
|
||||
|
||||
|
||||
def _single_arm_node(arm: str, use_mock: bool, move_to_initial_pose: bool) -> Node:
|
||||
def _single_arm_node(
|
||||
arm: str,
|
||||
use_mock: bool,
|
||||
move_to_initial_pose: bool,
|
||||
avoid_singularity: int,
|
||||
frame_type: int,
|
||||
configure_safety_limits: bool,
|
||||
) -> Node:
|
||||
"""创建单臂调试节点；左/右臂分别使用独立 YAML，节点名保持单臂默认名。"""
|
||||
config_name = "left_arm_rm75.yaml" if arm == "left" else "right_arm_rm75.yaml"
|
||||
robot_ip = LaunchConfiguration("left_robot_ip" if arm == "left" else "right_robot_ip")
|
||||
return Node(
|
||||
@ -46,13 +64,24 @@ def _single_arm_node(arm: str, use_mock: bool, move_to_initial_pose: bool) -> No
|
||||
"use_mock": use_mock,
|
||||
"robot_ip": robot_ip,
|
||||
"robot_port": LaunchConfiguration("robot_port"),
|
||||
"avoid_singularity": avoid_singularity,
|
||||
"frame_type": frame_type,
|
||||
"configure_safety_limits": configure_safety_limits,
|
||||
"move_to_initial_pose_on_connect": move_to_initial_pose,
|
||||
},
|
||||
],
|
||||
)
|
||||
|
||||
|
||||
def _dual_arm_nodes(use_mock: bool, move_to_initial_pose: bool) -> list[Node]:
|
||||
def _dual_arm_nodes(
|
||||
use_mock: bool,
|
||||
move_to_initial_pose: bool,
|
||||
left_avoid_singularity: int,
|
||||
right_avoid_singularity: int,
|
||||
frame_type: int,
|
||||
configure_safety_limits: bool,
|
||||
) -> list[Node]:
|
||||
"""创建双臂节点；两个节点共用双臂 YAML，但节点名区分左右臂参数命名空间。"""
|
||||
config_file = _config_file("dual_arm_rm75.yaml")
|
||||
return [
|
||||
Node(
|
||||
@ -66,6 +95,9 @@ def _dual_arm_nodes(use_mock: bool, move_to_initial_pose: bool) -> list[Node]:
|
||||
"use_mock": use_mock,
|
||||
"robot_ip": LaunchConfiguration("left_robot_ip"),
|
||||
"robot_port": LaunchConfiguration("robot_port"),
|
||||
"avoid_singularity": left_avoid_singularity,
|
||||
"frame_type": frame_type,
|
||||
"configure_safety_limits": configure_safety_limits,
|
||||
"move_to_initial_pose_on_connect": move_to_initial_pose,
|
||||
},
|
||||
],
|
||||
@ -81,6 +113,9 @@ def _dual_arm_nodes(use_mock: bool, move_to_initial_pose: bool) -> list[Node]:
|
||||
"use_mock": use_mock,
|
||||
"robot_ip": LaunchConfiguration("right_robot_ip"),
|
||||
"robot_port": LaunchConfiguration("robot_port"),
|
||||
"avoid_singularity": right_avoid_singularity,
|
||||
"frame_type": frame_type,
|
||||
"configure_safety_limits": configure_safety_limits,
|
||||
"move_to_initial_pose_on_connect": move_to_initial_pose,
|
||||
},
|
||||
],
|
||||
@ -89,33 +124,78 @@ def _dual_arm_nodes(use_mock: bool, move_to_initial_pose: bool) -> list[Node]:
|
||||
|
||||
|
||||
def _launch_setup(context, *args, **kwargs):
|
||||
"""运行时读取 launch 参数，决定启动单臂还是双臂。"""
|
||||
del args, kwargs
|
||||
arm = LaunchConfiguration("arm").perform(context).strip().lower()
|
||||
use_mock = _as_bool(LaunchConfiguration("use_mock").perform(context))
|
||||
move_to_initial_pose = _as_bool(
|
||||
LaunchConfiguration("move_to_initial_pose_on_connect").perform(context)
|
||||
)
|
||||
avoid_override = LaunchConfiguration("avoid_singularity").perform(context).strip()
|
||||
left_avoid_singularity = int(
|
||||
avoid_override or LaunchConfiguration("left_avoid_singularity").perform(context)
|
||||
)
|
||||
right_avoid_singularity = int(
|
||||
avoid_override or LaunchConfiguration("right_avoid_singularity").perform(context)
|
||||
)
|
||||
frame_type = int(LaunchConfiguration("frame_type").perform(context))
|
||||
configure_safety_limits = _as_bool(
|
||||
LaunchConfiguration("configure_safety_limits").perform(context)
|
||||
)
|
||||
|
||||
if arm not in ("left", "right", "both"):
|
||||
raise ValueError("arm must be one of: left, right, both")
|
||||
|
||||
nodes = [_udp_receiver_node()]
|
||||
if arm == "both":
|
||||
nodes.extend(_dual_arm_nodes(use_mock, move_to_initial_pose))
|
||||
nodes.extend(
|
||||
_dual_arm_nodes(
|
||||
use_mock,
|
||||
move_to_initial_pose,
|
||||
left_avoid_singularity,
|
||||
right_avoid_singularity,
|
||||
frame_type,
|
||||
configure_safety_limits,
|
||||
)
|
||||
)
|
||||
else:
|
||||
nodes.append(_single_arm_node(arm, use_mock, move_to_initial_pose))
|
||||
avoid_singularity = left_avoid_singularity if arm == "left" else right_avoid_singularity
|
||||
nodes.append(
|
||||
_single_arm_node(
|
||||
arm,
|
||||
use_mock,
|
||||
move_to_initial_pose,
|
||||
avoid_singularity,
|
||||
frame_type,
|
||||
configure_safety_limits,
|
||||
)
|
||||
)
|
||||
return nodes
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
return LaunchDescription([
|
||||
# 调试目标：left/right/both；默认右臂方便单臂逐步上真机。
|
||||
DeclareLaunchArgument("arm", default_value="right"),
|
||||
# true 时只跑 mock，不连接 RM75；false 时通过 RealMan SDK 连接真机。
|
||||
DeclareLaunchArgument("use_mock", default_value="true"),
|
||||
# UDP 监听参数，需要与 PICO 端或 sample_udp_sender 保持一致。
|
||||
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
|
||||
DeclareLaunchArgument("udp_port", default_value="15000"),
|
||||
# 左右 RM75 默认 IP，可在命令行中按现场网络覆盖。
|
||||
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
|
||||
DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
|
||||
DeclareLaunchArgument("robot_port", default_value="8080"),
|
||||
# 真机速度透传与安全配置参数。左臂现场控制器对硬件避奇异初始化
|
||||
# 可能返回超时，因此默认关闭硬件避奇异，只保留软件侧限幅。
|
||||
DeclareLaunchArgument("left_avoid_singularity", default_value="0"),
|
||||
DeclareLaunchArgument("right_avoid_singularity", default_value="1"),
|
||||
# 非空时作为左右臂全局覆盖，例如 avoid_singularity:=0。
|
||||
DeclareLaunchArgument("avoid_singularity", default_value=""),
|
||||
DeclareLaunchArgument("frame_type", default_value="1"),
|
||||
DeclareLaunchArgument("configure_safety_limits", default_value="true"),
|
||||
# 默认不自动移动到初始点，确认安全区后再显式打开。
|
||||
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
|
||||
# OpaqueFunction 允许根据 arm/use_mock 等运行时参数动态生成节点。
|
||||
OpaqueFunction(function=_launch_setup),
|
||||
])
|
||||
|
||||
@ -1,3 +1,10 @@
|
||||
"""双臂 mock 遥操作启动入口。
|
||||
|
||||
该 launch 文件用于不连接真实 RM75 的离线闭环验证：启动 UDP 手柄接收节点，
|
||||
并分别启动左、右两个 `single_arm_velocity_teleop` 节点。两个遥操作节点使用
|
||||
同一份双臂配置文件，但通过节点名读取各自的参数命名空间。
|
||||
"""
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import IfCondition
|
||||
@ -7,6 +14,7 @@ from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
# 通过 robot_config 参数选择 xr_rm_bringup/config 下的双臂配置文件。
|
||||
config_file = PathJoinSubstitution([
|
||||
FindPackageShare("xr_rm_bringup"),
|
||||
"config",
|
||||
@ -14,9 +22,11 @@ def generate_launch_description() -> LaunchDescription:
|
||||
])
|
||||
|
||||
return LaunchDescription([
|
||||
# UDP 监听参数，需要和 PICO 端或 sample_udp_sender 的目标地址保持一致。
|
||||
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
|
||||
DeclareLaunchArgument("udp_port", default_value="15000"),
|
||||
DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
|
||||
# 这些开关便于单独验证 UDP、左臂或右臂链路。
|
||||
DeclareLaunchArgument("run_udp", default_value="true"),
|
||||
DeclareLaunchArgument("run_left_arm", default_value="true"),
|
||||
DeclareLaunchArgument("run_right_arm", default_value="true"),
|
||||
|
||||
@ -1,3 +1,10 @@
|
||||
"""双 RM75 真机遥操作启动入口。
|
||||
|
||||
该 launch 文件用于连接左右两台真实 RM75：启动 UDP 手柄接收节点，并分别启动
|
||||
左、右两个真机遥操作节点。默认不会自动移动到初始点，只有显式设置
|
||||
`move_to_initial_pose_on_connect:=true` 后才会执行初始化点位移动。
|
||||
"""
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import IfCondition
|
||||
@ -8,6 +15,7 @@ from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
# 双臂真机默认读取 xr_rm_bringup/config/dual_arm_rm75.yaml。
|
||||
config_file = PathJoinSubstitution([
|
||||
FindPackageShare("xr_rm_bringup"),
|
||||
"config",
|
||||
@ -15,16 +23,21 @@ def generate_launch_description() -> LaunchDescription:
|
||||
])
|
||||
|
||||
return LaunchDescription([
|
||||
# UDP 监听参数，需要与 PICO 端发送地址和端口匹配。
|
||||
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
|
||||
DeclareLaunchArgument("udp_port", default_value="15000"),
|
||||
# 左右 RM75 的默认现场 IP，可在 launch 命令中按实际网络覆盖。
|
||||
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
|
||||
DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
|
||||
DeclareLaunchArgument("robot_port", default_value="8080"),
|
||||
DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
|
||||
# 调试时可关闭部分节点，只验证 UDP 或单侧机械臂。
|
||||
DeclareLaunchArgument("run_udp", default_value="true"),
|
||||
DeclareLaunchArgument("run_left_arm", default_value="true"),
|
||||
DeclareLaunchArgument("run_right_arm", default_value="true"),
|
||||
# 真机默认不自动动臂，确认安全区清空后再手动打开。
|
||||
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
|
||||
# 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
|
||||
Node(
|
||||
package="xr_rm_input",
|
||||
executable="udp_controller_receiver",
|
||||
@ -38,6 +51,7 @@ def generate_launch_description() -> LaunchDescription:
|
||||
"right_topic": "/xr/right_controller",
|
||||
}],
|
||||
),
|
||||
# 左臂真机节点：连接 left_robot_ip，并读取 left_arm_teleop 参数命名空间。
|
||||
Node(
|
||||
package="xr_rm_teleop",
|
||||
executable="single_arm_velocity_teleop",
|
||||
@ -57,6 +71,7 @@ def generate_launch_description() -> LaunchDescription:
|
||||
},
|
||||
],
|
||||
),
|
||||
# 右臂真机节点：连接 right_robot_ip，并读取 right_arm_teleop 参数命名空间。
|
||||
Node(
|
||||
package="xr_rm_teleop",
|
||||
executable="single_arm_velocity_teleop",
|
||||
|
||||
@ -1,4 +1,10 @@
|
||||
#!/usr/bin/env python3
|
||||
"""XR-RM 桌面调试启动器。
|
||||
|
||||
提供 Tkinter 图形界面，按“仿真/左臂/右臂/双臂/诊断”组织常用 ROS2
|
||||
launch、sample_udp_sender、topic 监控和环境检查命令，降低现场调试时的命令输入成本。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import ctypes
|
||||
@ -25,6 +31,13 @@ except ImportError as exc:
|
||||
DEFAULT_LEFT_IP = "192.168.192.18"
|
||||
DEFAULT_RIGHT_IP = "192.168.192.19"
|
||||
DEFAULT_PORT = "15000"
|
||||
SAMPLE_SENDER_SECONDS = "30"
|
||||
SAMPLE_SENDER_STAGGERED_SECONDS = "60"
|
||||
SAMPLE_SENDER_ARGS = (
|
||||
f"--host 127.0.0.1 --port {DEFAULT_PORT} "
|
||||
"--pattern axis_sweep --amplitude 0.5 "
|
||||
"--hold-seconds 4.0 --center-seconds 1.2 --initial-center-seconds 1.0"
|
||||
)
|
||||
TERMINAL_TITLE_PREFIX = "XR-RM Terminal - "
|
||||
TOPIC_MONITOR_TITLE = "XR-RM Topic Monitor"
|
||||
TOPIC_MONITOR_ACTION = "__xr_rm_topic_monitor__"
|
||||
@ -62,7 +75,22 @@ def _with_index(items: list[tuple[str, str]]) -> list[tuple[str, str]]:
|
||||
return [(f"{idx}. {title}", cmd) for idx, (title, cmd) in enumerate(items, start=1)]
|
||||
|
||||
|
||||
def _sample_udp_sender_command(
|
||||
hand: str,
|
||||
seconds: str = SAMPLE_SENDER_SECONDS,
|
||||
both_mode: str = "synchronized",
|
||||
) -> str:
|
||||
command = (
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand {hand} "
|
||||
f"{SAMPLE_SENDER_ARGS} --seconds {seconds}"
|
||||
)
|
||||
if hand == "both":
|
||||
command += f" --both-mode {both_mode}"
|
||||
return command
|
||||
|
||||
|
||||
def _find_workspace_root() -> Path:
|
||||
# 优先使用显式环境变量，便于从安装目录、源码目录或桌面快捷方式启动。
|
||||
env_workspace = os.environ.get("XR_RM_WS")
|
||||
if env_workspace:
|
||||
return Path(env_workspace).expanduser().resolve()
|
||||
@ -77,6 +105,7 @@ def _find_workspace_root() -> Path:
|
||||
|
||||
|
||||
def _source_lines(workspace_root: Path) -> list[str]:
|
||||
# 每个新终端都重新 source ROS 和工作空间，避免依赖启动器自身的 shell 环境。
|
||||
ros_setup = Path("/opt/ros/humble/setup.bash")
|
||||
install_setup = workspace_root / "install" / "setup.bash"
|
||||
lines = [
|
||||
@ -100,11 +129,13 @@ def _source_lines(workspace_root: Path) -> list[str]:
|
||||
|
||||
|
||||
def _one_click_mock(arm: str, hand: str) -> str:
|
||||
sender_seconds = SAMPLE_SENDER_STAGGERED_SECONDS if hand == "both" else SAMPLE_SENDER_SECONDS
|
||||
both_mode = "staggered" if hand == "both" else "synchronized"
|
||||
return "\n".join([
|
||||
f"ros2 launch xr_rm_bringup arm_debug.launch.py arm:={arm} use_mock:=true &",
|
||||
"launch_pid=$!",
|
||||
"sleep 2",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand {hand} --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 20",
|
||||
_sample_udp_sender_command(hand, sender_seconds, both_mode),
|
||||
"echo",
|
||||
"echo 'Sample sender finished. The launch process is still running in this terminal.'",
|
||||
"echo 'Press Ctrl-C here, or use the cleanup button in the launcher, to stop it.'",
|
||||
@ -133,22 +164,23 @@ def _finalize_items(
|
||||
|
||||
|
||||
def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
|
||||
# UI 列表只维护命令模板；真正执行时统一套上工作空间 source 和终端包装。
|
||||
if mode == "Simulation":
|
||||
items = [
|
||||
("Left Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=true"),
|
||||
("Right Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=true"),
|
||||
("Dual Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true"),
|
||||
(
|
||||
"Sample UDP Sender (Left, 10s)",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand left --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 10",
|
||||
"Sample UDP Sender (Left, 30s)",
|
||||
_sample_udp_sender_command("left"),
|
||||
),
|
||||
(
|
||||
"Sample UDP Sender (Right, 10s)",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand right --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 10",
|
||||
"Sample UDP Sender (Right, 30s)",
|
||||
_sample_udp_sender_command("right"),
|
||||
),
|
||||
(
|
||||
"Sample UDP Sender (Both, 10s)",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand both --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 10",
|
||||
"Sample UDP Sender (Both Staggered, 60s)",
|
||||
_sample_udp_sender_command("both", SAMPLE_SENDER_STAGGERED_SECONDS, "staggered"),
|
||||
),
|
||||
("One-Click Left Mock Demo", _one_click_mock("left", "left")),
|
||||
("One-Click Right Mock Demo", _one_click_mock("right", "right")),
|
||||
@ -165,8 +197,8 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
|
||||
"move_to_initial_pose_on_connect:=false",
|
||||
),
|
||||
(
|
||||
"Sample UDP Sender (Left, 10s)",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand left --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 10",
|
||||
"Sample UDP Sender (Left, 30s)",
|
||||
_sample_udp_sender_command("left"),
|
||||
),
|
||||
]
|
||||
one_click = None
|
||||
@ -180,8 +212,8 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
|
||||
"move_to_initial_pose_on_connect:=false",
|
||||
),
|
||||
(
|
||||
"Sample UDP Sender (Right, 10s)",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand right --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 10",
|
||||
"Sample UDP Sender (Right, 30s)",
|
||||
_sample_udp_sender_command("right"),
|
||||
),
|
||||
]
|
||||
one_click = None
|
||||
@ -196,8 +228,8 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
|
||||
"move_to_initial_pose_on_connect:=false",
|
||||
),
|
||||
(
|
||||
"Sample UDP Sender (Both, 10s)",
|
||||
f"ros2 run xr_rm_input sample_udp_sender --hand both --host 127.0.0.1 --port {DEFAULT_PORT} --seconds 10",
|
||||
"Sample UDP Sender (Both Staggered, 60s)",
|
||||
_sample_udp_sender_command("both", SAMPLE_SENDER_STAGGERED_SECONDS, "staggered"),
|
||||
),
|
||||
]
|
||||
one_click = None
|
||||
@ -213,6 +245,8 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
|
||||
|
||||
|
||||
class LauncherApp:
|
||||
"""XR-RM 调试启动器主窗口，负责命令列表、终端启动和监控窗口管理。"""
|
||||
|
||||
def __init__(self, root: tk.Tk) -> None:
|
||||
self.root = root
|
||||
self.workspace_root = _find_workspace_root()
|
||||
@ -421,6 +455,7 @@ class LauncherApp:
|
||||
return result.returncode == 0
|
||||
|
||||
def check_prerequisites(self) -> None:
|
||||
# 环境检查只做轻量探测，避免在 UI 线程里执行耗时的网络或硬件连接动作。
|
||||
ok: list[str] = []
|
||||
warnings: list[str] = []
|
||||
errors: list[str] = []
|
||||
@ -604,16 +639,72 @@ class LauncherApp:
|
||||
return Path(script_file.name)
|
||||
|
||||
def topic_monitor_rect(self) -> tuple[int, int, int, int]:
|
||||
screen_width = max(self.root.winfo_screenwidth(), 1)
|
||||
screen_height = max(self.root.winfo_screenheight(), 1)
|
||||
width = min(screen_width - 160, max(960, int(screen_width * 0.75)))
|
||||
height = min(screen_height - 160, max(560, int(screen_height * 0.66)))
|
||||
width = max(width, min(screen_width, 900))
|
||||
height = max(height, min(screen_height, 520))
|
||||
left = max((screen_width - width) // 2, 0)
|
||||
top = max((screen_height - height) // 2, 0)
|
||||
# 监控窗口尽量放在启动器所在显示器，双屏现场调试时更容易找回窗口。
|
||||
monitor_left, monitor_top, monitor_width, monitor_height = self.active_monitor_rect()
|
||||
width = min(monitor_width - 120, max(960, int(monitor_width * 0.75)))
|
||||
height = min(monitor_height - 120, max(560, int(monitor_height * 0.66)))
|
||||
width = max(width, min(monitor_width, 900))
|
||||
height = max(height, min(monitor_height, 520))
|
||||
left = monitor_left + max((monitor_width - width) // 2, 0)
|
||||
top = monitor_top + max((monitor_height - height) // 2, 0)
|
||||
return width, height, left, top
|
||||
|
||||
def active_monitor_rect(self) -> tuple[int, int, int, int]:
|
||||
monitors = self.xrandr_monitor_rects()
|
||||
if not monitors:
|
||||
return (0, 0, max(self.root.winfo_screenwidth(), 1), max(self.root.winfo_screenheight(), 1))
|
||||
|
||||
self.root.update_idletasks()
|
||||
root_center = (
|
||||
self.root.winfo_rootx() + max(self.root.winfo_width(), 1) // 2,
|
||||
self.root.winfo_rooty() + max(self.root.winfo_height(), 1) // 2,
|
||||
)
|
||||
pointer = (self.root.winfo_pointerx(), self.root.winfo_pointery())
|
||||
|
||||
for point_x, point_y in (root_center, pointer):
|
||||
for left, top, width, height, _primary in monitors:
|
||||
if left <= point_x < left + width and top <= point_y < top + height:
|
||||
return (left, top, width, height)
|
||||
|
||||
for left, top, width, height, primary in monitors:
|
||||
if primary:
|
||||
return (left, top, width, height)
|
||||
|
||||
left, top, width, height, _primary = monitors[0]
|
||||
return (left, top, width, height)
|
||||
|
||||
@staticmethod
|
||||
def xrandr_monitor_rects() -> list[tuple[int, int, int, int, bool]]:
|
||||
if not shutil.which("xrandr"):
|
||||
return []
|
||||
|
||||
try:
|
||||
output = subprocess.check_output(
|
||||
["xrandr", "--query"],
|
||||
text=True,
|
||||
stderr=subprocess.DEVNULL,
|
||||
)
|
||||
except Exception:
|
||||
return []
|
||||
|
||||
monitors: list[tuple[int, int, int, int, bool]] = []
|
||||
pattern = re.compile(
|
||||
r"^\S+ connected(?P<primary> primary)? "
|
||||
r"(?P<w>\d+)x(?P<h>\d+)\+(?P<x>-?\d+)\+(?P<y>-?\d+)"
|
||||
)
|
||||
for line in output.splitlines():
|
||||
match = pattern.match(line)
|
||||
if not match:
|
||||
continue
|
||||
monitors.append((
|
||||
int(match.group("x")),
|
||||
int(match.group("y")),
|
||||
int(match.group("w")),
|
||||
int(match.group("h")),
|
||||
bool(match.group("primary")),
|
||||
))
|
||||
return monitors
|
||||
|
||||
def window_ids_matching_title(self, title: str) -> list[int]:
|
||||
if not shutil.which("xprop"):
|
||||
return []
|
||||
@ -641,16 +732,87 @@ class LauncherApp:
|
||||
window_ids.append(int(xid_text, 16))
|
||||
return window_ids
|
||||
|
||||
def force_monitor_window_geometry(self, title: str, attempts_left: int = 40) -> None:
|
||||
def force_monitor_window_geometry(
|
||||
self,
|
||||
title: str,
|
||||
target_rect: tuple[int, int, int, int],
|
||||
attempts_left: int = 30,
|
||||
) -> None:
|
||||
if attempts_left <= 0 or not self.root.winfo_exists():
|
||||
return
|
||||
|
||||
window_ids = self.window_ids_matching_title(title)
|
||||
if window_ids:
|
||||
width, height, left, top = self.topic_monitor_rect()
|
||||
if not window_ids:
|
||||
self.root.after(
|
||||
80,
|
||||
lambda: self.force_monitor_window_geometry(title, target_rect, attempts_left - 1),
|
||||
)
|
||||
return
|
||||
|
||||
if any(self.monitor_window_needs_geometry(window_id, target_rect) for window_id in window_ids):
|
||||
width, height, left, top = target_rect
|
||||
self.apply_x11_window_geometry(window_ids, left, top, width, height)
|
||||
|
||||
self.root.after(250, lambda: self.force_monitor_window_geometry(title, attempts_left - 1))
|
||||
def monitor_window_needs_geometry(self, window_id: int, target_rect: tuple[int, int, int, int]) -> bool:
|
||||
props = self.x11_window_props(window_id)
|
||||
if "_NET_WM_STATE_FULLSCREEN" in props or "_NET_WM_STATE_MAXIMIZED_HORZ" in props:
|
||||
return True
|
||||
if "_NET_WM_STATE_MAXIMIZED_VERT" in props:
|
||||
return True
|
||||
|
||||
geometry = self.x11_window_geometry(window_id)
|
||||
if geometry is None:
|
||||
return True
|
||||
|
||||
actual_left, actual_top, actual_width, actual_height = geometry
|
||||
target_width, target_height, target_left, target_top = target_rect
|
||||
if abs(actual_width - target_width) > 180 or abs(actual_height - target_height) > 180:
|
||||
return True
|
||||
if abs(actual_left - target_left) > 180 or abs(actual_top - target_top) > 180:
|
||||
return True
|
||||
return False
|
||||
|
||||
@staticmethod
|
||||
def x11_window_props(window_id: int) -> str:
|
||||
if not shutil.which("xprop"):
|
||||
return ""
|
||||
try:
|
||||
return subprocess.check_output(
|
||||
["xprop", "-id", hex(window_id), "_NET_WM_STATE"],
|
||||
text=True,
|
||||
stderr=subprocess.DEVNULL,
|
||||
)
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
@staticmethod
|
||||
def x11_window_geometry(window_id: int) -> tuple[int, int, int, int] | None:
|
||||
if not shutil.which("xwininfo"):
|
||||
return None
|
||||
try:
|
||||
output = subprocess.check_output(
|
||||
["xwininfo", "-id", hex(window_id)],
|
||||
text=True,
|
||||
stderr=subprocess.DEVNULL,
|
||||
)
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
values: dict[str, int] = {}
|
||||
patterns = {
|
||||
"left": r"Absolute upper-left X:\s+(-?\d+)",
|
||||
"top": r"Absolute upper-left Y:\s+(-?\d+)",
|
||||
"width": r"Width:\s+(\d+)",
|
||||
"height": r"Height:\s+(\d+)",
|
||||
}
|
||||
for key, pattern in patterns.items():
|
||||
match = re.search(pattern, output)
|
||||
if match:
|
||||
values[key] = int(match.group(1))
|
||||
|
||||
if len(values) != 4:
|
||||
return None
|
||||
return values["left"], values["top"], values["width"], values["height"]
|
||||
|
||||
def apply_x11_window_geometry(self, window_ids: list[int], left: int, top: int, width: int, height: int) -> None:
|
||||
lib_path = ctypes.util.find_library("X11")
|
||||
@ -769,8 +931,8 @@ class LauncherApp:
|
||||
event_mask = (1 << 19) | (1 << 20) # SubstructureNotifyMask | SubstructureRedirectMask
|
||||
xlib.XSendEvent(display, root, False, event_mask, ctypes.byref(event))
|
||||
|
||||
def write_topic_monitor_config(self) -> Path:
|
||||
width, height, left, top = self.topic_monitor_rect()
|
||||
def write_topic_monitor_config(self, target_rect: tuple[int, int, int, int] | None = None) -> Path:
|
||||
width, height, left, top = target_rect or self.topic_monitor_rect()
|
||||
left_script, right_script = [
|
||||
self.write_topic_monitor_script(title, topic)
|
||||
for title, topic in TOPIC_MONITORS
|
||||
@ -778,6 +940,8 @@ class LauncherApp:
|
||||
layout_name = "xr_rm_topic_monitor"
|
||||
config_text = "\n".join([
|
||||
"[global_config]",
|
||||
" geometry_hinting = False",
|
||||
" window_state = normal",
|
||||
" suppress_multiple_term_dialog = True",
|
||||
"[keybindings]",
|
||||
"[profiles]",
|
||||
@ -822,8 +986,8 @@ class LauncherApp:
|
||||
config_file.write(config_text)
|
||||
return Path(config_file.name)
|
||||
|
||||
def write_ros_graph_monitor_config(self) -> Path:
|
||||
width, height, left, top = self.topic_monitor_rect()
|
||||
def write_ros_graph_monitor_config(self, target_rect: tuple[int, int, int, int] | None = None) -> Path:
|
||||
width, height, left, top = target_rect or self.topic_monitor_rect()
|
||||
topic_script, node_script = [
|
||||
self.write_ros_graph_monitor_script(title, command)
|
||||
for title, command in ROS_GRAPH_MONITORS
|
||||
@ -831,6 +995,8 @@ class LauncherApp:
|
||||
layout_name = "xr_rm_ros_graph_monitor"
|
||||
config_text = "\n".join([
|
||||
"[global_config]",
|
||||
" geometry_hinting = False",
|
||||
" window_state = normal",
|
||||
" suppress_multiple_term_dialog = True",
|
||||
"[keybindings]",
|
||||
"[profiles]",
|
||||
@ -892,7 +1058,8 @@ class LauncherApp:
|
||||
)
|
||||
return
|
||||
|
||||
config_path = self.write_topic_monitor_config()
|
||||
target_rect = self.topic_monitor_rect()
|
||||
config_path = self.write_topic_monitor_config(target_rect)
|
||||
command = [
|
||||
terminal,
|
||||
"--no-dbus",
|
||||
@ -910,7 +1077,7 @@ class LauncherApp:
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=subprocess.DEVNULL,
|
||||
)
|
||||
self.root.after(150, lambda: self.force_monitor_window_geometry(TOPIC_MONITOR_TITLE))
|
||||
self.root.after(60, lambda: self.force_monitor_window_geometry(TOPIC_MONITOR_TITLE, target_rect))
|
||||
self.status.config(text="Opened Terminator controller topic monitor.")
|
||||
except Exception as exc:
|
||||
messagebox.showerror("Topic Monitor Failed", f"Failed to launch topic monitor:\n{exc}")
|
||||
@ -933,7 +1100,8 @@ class LauncherApp:
|
||||
)
|
||||
return
|
||||
|
||||
config_path = self.write_ros_graph_monitor_config()
|
||||
target_rect = self.topic_monitor_rect()
|
||||
config_path = self.write_ros_graph_monitor_config(target_rect)
|
||||
command = [
|
||||
terminal,
|
||||
"--no-dbus",
|
||||
@ -951,7 +1119,7 @@ class LauncherApp:
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=subprocess.DEVNULL,
|
||||
)
|
||||
self.root.after(150, lambda: self.force_monitor_window_geometry(ROS_GRAPH_MONITOR_TITLE))
|
||||
self.root.after(60, lambda: self.force_monitor_window_geometry(ROS_GRAPH_MONITOR_TITLE, target_rect))
|
||||
self.status.config(text="Opened Terminator ROS graph monitor.")
|
||||
except Exception as exc:
|
||||
messagebox.showerror("ROS Graph Monitor Failed", f"Failed to launch ROS graph monitor:\n{exc}")
|
||||
@ -997,6 +1165,7 @@ class LauncherApp:
|
||||
if not confirm:
|
||||
return
|
||||
|
||||
# 只清理由启动器常用命令创建的 ROS/监控进程，并保护当前 UI 进程。
|
||||
patterns = [
|
||||
"ros2 launch xr_rm_bringup",
|
||||
"ros2 run xr_rm_input",
|
||||
|
||||
215
xr_rm_bringup/tools/realman_dual_arm_state_monitor.py
Executable file
215
xr_rm_bringup/tools/realman_dual_arm_state_monitor.py
Executable file
@ -0,0 +1,215 @@
|
||||
#!/usr/bin/env python3
|
||||
"""独立双臂状态监控脚本（轮询版）。
|
||||
|
||||
优化点：
|
||||
- 不再依赖 UDP 回调；
|
||||
- 直接通过 rm_get_current_arm_state() 按句柄轮询左右臂状态；
|
||||
- 避免同进程双回调潜在冲突导致的左臂显示异常。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import time
|
||||
from dataclasses import dataclass
|
||||
from typing import Optional
|
||||
|
||||
import numpy as np
|
||||
|
||||
from realman_pkg.Robotic_Arm.rm_robot_interface import RoboticArm, rm_thread_mode_e
|
||||
from realman_pkg.core.arg_cfg import host_ip, ip_l, ip_r, port_l, port_r
|
||||
|
||||
|
||||
@dataclass
|
||||
class ArmSnapshot:
|
||||
"""单臂状态快照。"""
|
||||
|
||||
connected: bool
|
||||
ret_code: int
|
||||
last_update: float
|
||||
joint_deg: list[float]
|
||||
pose_euler: np.ndarray
|
||||
err_text: str
|
||||
|
||||
|
||||
class ArmStatePoller:
|
||||
"""单臂状态轮询器。"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
robot_ip: str,
|
||||
robot_port: int,
|
||||
level: int = 3,
|
||||
mode: int = 2,
|
||||
):
|
||||
self.name = name
|
||||
self.robot_ip = robot_ip
|
||||
self.robot_port = int(robot_port)
|
||||
self.level = int(level)
|
||||
self.mode = int(mode)
|
||||
|
||||
self.robot: Optional[RoboticArm] = None
|
||||
self.robot_handle = None
|
||||
self.connected = False
|
||||
|
||||
self.last_snapshot = ArmSnapshot(
|
||||
connected=False,
|
||||
ret_code=-999,
|
||||
last_update=0.0,
|
||||
joint_deg=[0.0] * 7,
|
||||
pose_euler=np.zeros(6, dtype=np.float64),
|
||||
err_text="not connected",
|
||||
)
|
||||
|
||||
self._connect()
|
||||
|
||||
def _connect(self):
|
||||
"""连接机械臂。"""
|
||||
try:
|
||||
self.robot = RoboticArm(rm_thread_mode_e(self.mode))
|
||||
self.robot_handle = self.robot.rm_create_robot_arm(self.robot_ip, self.robot_port, self.level)
|
||||
if self.robot_handle.id == -1:
|
||||
self.connected = False
|
||||
self.last_snapshot.connected = False
|
||||
self.last_snapshot.err_text = f"connect failed ({self.robot_ip}:{self.robot_port})"
|
||||
print(f"[{self.name}] 连接失败: {self.last_snapshot.err_text}")
|
||||
return
|
||||
|
||||
self.connected = True
|
||||
self.last_snapshot.connected = True
|
||||
self.last_snapshot.err_text = "ok"
|
||||
print(f"[{self.name}] 已连接, handle_id={self.robot_handle.id}, ip={self.robot_ip}, port={self.robot_port}")
|
||||
except Exception as exc:
|
||||
self.connected = False
|
||||
self.last_snapshot.connected = False
|
||||
self.last_snapshot.err_text = f"connect exception: {exc}"
|
||||
print(f"[{self.name}] 连接异常: {exc}")
|
||||
|
||||
def poll(self) -> ArmSnapshot:
|
||||
"""轮询一次当前状态。"""
|
||||
if (not self.connected) or (self.robot is None):
|
||||
return self.last_snapshot
|
||||
|
||||
try:
|
||||
ret, state = self.robot.rm_get_current_arm_state()
|
||||
now_t = time.time()
|
||||
|
||||
if ret != 0:
|
||||
self.last_snapshot.ret_code = ret
|
||||
self.last_snapshot.err_text = f"rm_get_current_arm_state ret={ret}"
|
||||
return self.last_snapshot
|
||||
|
||||
joint = list(state.get("joint", [0.0] * 7))
|
||||
pose = list(state.get("pose", [0.0] * 6))
|
||||
err = state.get("err", {})
|
||||
|
||||
if len(joint) < 7:
|
||||
joint.extend([0.0] * (7 - len(joint)))
|
||||
elif len(joint) > 7:
|
||||
joint = joint[:7]
|
||||
|
||||
if len(pose) < 6:
|
||||
pose.extend([0.0] * (6 - len(pose)))
|
||||
elif len(pose) > 6:
|
||||
pose = pose[:6]
|
||||
|
||||
self.last_snapshot = ArmSnapshot(
|
||||
connected=True,
|
||||
ret_code=ret,
|
||||
last_update=now_t,
|
||||
joint_deg=joint,
|
||||
pose_euler=np.array(pose, dtype=np.float64),
|
||||
err_text=str(err),
|
||||
)
|
||||
return self.last_snapshot
|
||||
except Exception as exc:
|
||||
self.last_snapshot.err_text = f"poll exception: {exc}"
|
||||
return self.last_snapshot
|
||||
|
||||
def close(self):
|
||||
"""断开连接。"""
|
||||
if self.robot is None:
|
||||
return
|
||||
try:
|
||||
self.robot.rm_delete_robot_arm()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
def format_arm_block(name: str, snap: ArmSnapshot, now_t: float) -> str:
|
||||
"""格式化单臂输出。"""
|
||||
if not snap.connected:
|
||||
return f"[{name}] 未连接: {snap.err_text}"
|
||||
|
||||
age = now_t - snap.last_update if snap.last_update > 0 else float("inf")
|
||||
stale_flag = "(stale)" if age > 2.0 else ""
|
||||
|
||||
j = ", ".join(f"{v:7.2f}" for v in snap.joint_deg)
|
||||
p = snap.pose_euler
|
||||
return (
|
||||
f"[{name}] update_age={age:5.2f}s {stale_flag}, ret={snap.ret_code}\n"
|
||||
f" Joint(deg): [{j}]\n"
|
||||
f" Pose[x y z rx ry rz]: [{p[0]: .4f}, {p[1]: .4f}, {p[2]: .4f}, {p[3]: .4f}, {p[4]: .4f}, {p[5]: .4f}]\n"
|
||||
f" Err: {snap.err_text}"
|
||||
)
|
||||
|
||||
|
||||
def build_arg_parser() -> argparse.ArgumentParser:
|
||||
parser = argparse.ArgumentParser(description="Realman 双臂状态监控脚本（轮询版）")
|
||||
parser.add_argument("--left-ip", default=ip_l, help="左臂 IP")
|
||||
parser.add_argument("--right-ip", default=ip_r, help="右臂 IP")
|
||||
parser.add_argument("--left-port", type=int, default=port_l, help="左臂 TCP 端口")
|
||||
parser.add_argument("--right-port", type=int, default=port_r, help="右臂 TCP 端口")
|
||||
parser.add_argument("--refresh", type=float, default=0.5, help="刷新周期（秒）")
|
||||
parser.add_argument("--level", type=int, default=3, help="连接级别")
|
||||
parser.add_argument("--mode", type=int, default=2, help="线程模式 0/1/2")
|
||||
parser.add_argument("--host-ip", default=host_ip, help="仅展示当前配置用，轮询版不使用")
|
||||
return parser
|
||||
|
||||
|
||||
def main():
|
||||
args = build_arg_parser().parse_args()
|
||||
|
||||
print(f"配置: left={args.left_ip}:{args.left_port}, right={args.right_ip}:{args.right_port}, host_ip={args.host_ip}")
|
||||
|
||||
left = ArmStatePoller(
|
||||
name="LEFT",
|
||||
robot_ip=args.left_ip,
|
||||
robot_port=args.left_port,
|
||||
level=args.level,
|
||||
mode=args.mode,
|
||||
)
|
||||
right = ArmStatePoller(
|
||||
name="RIGHT",
|
||||
robot_ip=args.right_ip,
|
||||
robot_port=args.right_port,
|
||||
level=args.level,
|
||||
mode=args.mode,
|
||||
)
|
||||
|
||||
print("\n开始监控双臂状态（轮询），按 Ctrl+C 退出。\n")
|
||||
|
||||
try:
|
||||
while True:
|
||||
now_t = time.time()
|
||||
l_snap = left.poll()
|
||||
r_snap = right.poll()
|
||||
|
||||
print("\033[2J\033[H", end="")
|
||||
print(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(now_t)))
|
||||
print("=" * 88)
|
||||
print(format_arm_block("LEFT", l_snap, now_t))
|
||||
print("-" * 88)
|
||||
print(format_arm_block("RIGHT", r_snap, now_t))
|
||||
print("=" * 88)
|
||||
time.sleep(max(args.refresh, 0.05))
|
||||
except KeyboardInterrupt:
|
||||
print("\n退出监控...")
|
||||
finally:
|
||||
left.close()
|
||||
right.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@ -1,3 +1,10 @@
|
||||
"""XR 手柄 UDP 接收节点的独立启动入口。
|
||||
|
||||
该 launch 文件只启动 `udp_controller_receiver`，用于低层通信调试：确认 PICO
|
||||
或 sample_udp_sender 发出的 UDP JSON 能被 ROS2 接收，并发布到指定手柄话题。
|
||||
完整单臂/双臂遥操作请优先使用 xr_rm_bringup 中的 launch 文件。
|
||||
"""
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
@ -6,9 +13,12 @@ from launch_ros.actions import Node
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
return LaunchDescription([
|
||||
# UDP 监听地址和端口，需要与发送端配置一致。
|
||||
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
|
||||
DeclareLaunchArgument("udp_port", default_value="15000"),
|
||||
# 兼容旧版单手柄调试入口；双臂调试会使用 left_topic/right_topic。
|
||||
DeclareLaunchArgument("topic", default_value="/xr/right_controller"),
|
||||
# 仅启动 UDP 接收节点，不启动任何机械臂控制节点。
|
||||
Node(
|
||||
package="xr_rm_input",
|
||||
executable="udp_controller_receiver",
|
||||
|
||||
@ -1,3 +1,9 @@
|
||||
"""xr_rm_input 包安装配置。
|
||||
|
||||
该包负责把 XR/PICO 端发来的 UDP 手柄数据接入 ROS2，并提供一个
|
||||
sample_udp_sender 方便在没有真实手柄时做链路调试。
|
||||
"""
|
||||
|
||||
from glob import glob
|
||||
from setuptools import setup
|
||||
|
||||
|
||||
@ -1 +1,4 @@
|
||||
"""XR 输入包。
|
||||
|
||||
包含 UDP 手柄数据接收节点和用于现场调试的模拟 UDP 发送脚本。
|
||||
"""
|
||||
|
||||
@ -1,3 +1,9 @@
|
||||
"""XR 手柄 UDP 数据模拟发送器。
|
||||
|
||||
用于在没有真实 PICO/XR 手柄时向 udp_controller_receiver 发送测试数据。
|
||||
默认轨迹按 +X/-X、+Y/-Y、+Z/-Z 成对扫轴，便于用肉眼检查机械臂方向映射。
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import math
|
||||
@ -5,14 +11,188 @@ import socket
|
||||
import time
|
||||
|
||||
|
||||
BASE_POS = [0.0, 1.0, 0.0]
|
||||
# 方向名称会打印到终端，方便现场观察机械臂运动时对照坐标轴。
|
||||
AXIS_DIRECTIONS = (
|
||||
("XR +X", (1.0, 0.0, 0.0)),
|
||||
("XR -X", (-1.0, 0.0, 0.0)),
|
||||
("XR +Y", (0.0, 1.0, 0.0)),
|
||||
("XR -Y", (0.0, -1.0, 0.0)),
|
||||
("XR +Z", (0.0, 0.0, 1.0)),
|
||||
("XR -Z", (0.0, 0.0, -1.0)),
|
||||
)
|
||||
AXIS_SWEEP_SEGMENTS = (
|
||||
("XR +X right", (1.0, 0.0, 0.0), "hold"),
|
||||
("XR -X left", (-1.0, 0.0, 0.0), "hold"),
|
||||
("CENTER / X done", (0.0, 0.0, 0.0), "center"),
|
||||
("XR +Y up", (0.0, 1.0, 0.0), "hold"),
|
||||
("XR -Y down", (0.0, -1.0, 0.0), "hold"),
|
||||
("CENTER / Y done", (0.0, 0.0, 0.0), "center"),
|
||||
("XR +Z back", (0.0, 0.0, 1.0), "hold"),
|
||||
("XR -Z front", (0.0, 0.0, -1.0), "hold"),
|
||||
("CENTER / Z done", (0.0, 0.0, 0.0), "center"),
|
||||
)
|
||||
|
||||
|
||||
def _validate_positive(name: str, value: float) -> float:
|
||||
if value <= 0.0:
|
||||
raise argparse.ArgumentTypeError(f"{name} must be > 0")
|
||||
return value
|
||||
|
||||
|
||||
def _positive_float(name: str):
|
||||
def parser(value: str) -> float:
|
||||
return _validate_positive(name, float(value))
|
||||
|
||||
return parser
|
||||
|
||||
|
||||
def _position_from_direction(direction: tuple[float, float, float], amplitude: float) -> list[float]:
|
||||
return [
|
||||
BASE_POS[0] + amplitude * direction[0],
|
||||
BASE_POS[1] + amplitude * direction[1],
|
||||
BASE_POS[2] + amplitude * direction[2],
|
||||
]
|
||||
|
||||
|
||||
def _pattern_period(pattern: str, hold_seconds: float, center_seconds: float) -> float:
|
||||
if pattern == "axis_sweep":
|
||||
return sum(
|
||||
hold_seconds if segment_type == "hold" else center_seconds
|
||||
for _, _, segment_type in AXIS_SWEEP_SEGMENTS
|
||||
)
|
||||
if pattern == "axis_steps":
|
||||
return (hold_seconds + center_seconds) * len(AXIS_DIRECTIONS)
|
||||
return 5.0
|
||||
|
||||
|
||||
def _axis_sweep_position(
|
||||
t: float,
|
||||
amplitude: float,
|
||||
hold_seconds: float,
|
||||
center_seconds: float,
|
||||
initial_center_seconds: float,
|
||||
) -> tuple[str, list[float]]:
|
||||
if t < initial_center_seconds:
|
||||
return "CENTER / lock origin", BASE_POS.copy()
|
||||
|
||||
# +方向和-方向连续切换，比每次都很快回中心更容易看清实际运动方向。
|
||||
cycle_t = (t - initial_center_seconds) % _pattern_period(
|
||||
"axis_sweep",
|
||||
hold_seconds,
|
||||
center_seconds,
|
||||
)
|
||||
for label, direction, segment_type in AXIS_SWEEP_SEGMENTS:
|
||||
duration = hold_seconds if segment_type == "hold" else center_seconds
|
||||
if cycle_t < duration:
|
||||
return label, _position_from_direction(direction, amplitude)
|
||||
cycle_t -= duration
|
||||
return "CENTER", BASE_POS.copy()
|
||||
|
||||
|
||||
def _axis_step_position(
|
||||
t: float,
|
||||
amplitude: float,
|
||||
hold_seconds: float,
|
||||
center_seconds: float,
|
||||
initial_center_seconds: float,
|
||||
) -> tuple[str, list[float]]:
|
||||
if t < initial_center_seconds:
|
||||
return "CENTER / lock origin", BASE_POS.copy()
|
||||
|
||||
# 每个方向由“保持目标点”和“回中心”两段组成，循环遍历六个方向。
|
||||
segment_seconds = hold_seconds + center_seconds
|
||||
cycle_t = (t - initial_center_seconds) % (segment_seconds * len(AXIS_DIRECTIONS))
|
||||
direction_index = int(cycle_t // segment_seconds)
|
||||
segment_t = cycle_t - direction_index * segment_seconds
|
||||
label, direction = AXIS_DIRECTIONS[direction_index]
|
||||
|
||||
if segment_t >= hold_seconds:
|
||||
return f"CENTER after {label}", BASE_POS.copy()
|
||||
|
||||
return label, _position_from_direction(direction, amplitude)
|
||||
|
||||
|
||||
def _sine_position(t: float, amplitude: float, phase: float) -> tuple[str, list[float]]:
|
||||
return "SINE X", [
|
||||
amplitude * math.sin(2.0 * math.pi * 0.2 * t + phase),
|
||||
BASE_POS[1],
|
||||
BASE_POS[2],
|
||||
]
|
||||
|
||||
|
||||
def _pattern_position(
|
||||
pattern: str,
|
||||
t: float,
|
||||
amplitude: float,
|
||||
hold_seconds: float,
|
||||
center_seconds: float,
|
||||
initial_center_seconds: float,
|
||||
phase: float,
|
||||
) -> tuple[str, list[float]]:
|
||||
if pattern == "sine":
|
||||
return _sine_position(t, amplitude, phase)
|
||||
if pattern == "axis_steps":
|
||||
return _axis_step_position(
|
||||
t,
|
||||
amplitude,
|
||||
hold_seconds,
|
||||
center_seconds,
|
||||
initial_center_seconds,
|
||||
)
|
||||
return _axis_sweep_position(
|
||||
t,
|
||||
amplitude,
|
||||
hold_seconds,
|
||||
center_seconds,
|
||||
initial_center_seconds,
|
||||
)
|
||||
|
||||
|
||||
def main() -> None:
|
||||
parser = argparse.ArgumentParser(description="通过 UDP 发送一段模拟 XR 左/右手柄数据。")
|
||||
parser.add_argument("--host", default="127.0.0.1")
|
||||
parser.add_argument("--port", type=int, default=15000)
|
||||
parser.add_argument("--seconds", type=float, default=5.0)
|
||||
parser.add_argument("--hz", type=float, default=60.0)
|
||||
parser.add_argument("--amplitude", type=float, default=0.04)
|
||||
parser.add_argument("--seconds", type=_positive_float("seconds"), default=30.0)
|
||||
parser.add_argument("--hz", type=_positive_float("hz"), default=60.0)
|
||||
parser.add_argument("--amplitude", type=_positive_float("amplitude"), default=0.50)
|
||||
parser.add_argument(
|
||||
"--pattern",
|
||||
choices=("axis_sweep", "axis_steps", "sine"),
|
||||
default="axis_sweep",
|
||||
help="axis_sweep 成对扫轴最适合肉眼看方向；axis_steps 每个方向后回中心；sine 保留旧轨迹。",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--hold-seconds",
|
||||
type=_positive_float("hold-seconds"),
|
||||
default=4.0,
|
||||
help="axis_sweep/axis_steps 模式下，每个方向保持多久。增大可让机械臂走得更明显。",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--center-seconds",
|
||||
type=_positive_float("center-seconds"),
|
||||
default=1.2,
|
||||
help="axis_sweep/axis_steps 模式下，回中心段保持多久。",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--initial-center-seconds",
|
||||
type=_positive_float("initial-center-seconds"),
|
||||
default=1.0,
|
||||
help="axis_sweep/axis_steps 模式下，开头保持中心点多久，用于让遥操节点锁定原点。",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--trigger",
|
||||
type=float,
|
||||
default=0.0,
|
||||
help="发送的 trigger 值。方向调试默认不驱动夹爪。",
|
||||
)
|
||||
parser.add_argument("--hand", choices=("left", "right", "both"), default="right")
|
||||
parser.add_argument(
|
||||
"--both-mode",
|
||||
choices=("synchronized", "staggered"),
|
||||
default="synchronized",
|
||||
help="hand=both 时 synchronized 左右臂同时动；staggered 先左后右，便于逐只观察。",
|
||||
)
|
||||
args = parser.parse_args()
|
||||
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
@ -20,37 +200,86 @@ def main() -> None:
|
||||
t0 = time.monotonic()
|
||||
|
||||
hands = ("left", "right") if args.hand == "both" else (args.hand,)
|
||||
# 每只手柄独立发送同格式数据包，接收端根据 hand 字段分发左右话题。
|
||||
packets = {
|
||||
hand: {
|
||||
"t": 0.0,
|
||||
"hand": hand,
|
||||
"grip": False,
|
||||
"trigger": 0.0,
|
||||
"pos": [0.0, 1.0, 0.0],
|
||||
"pos": BASE_POS.copy(),
|
||||
"quat": [0.0, 0.0, 0.0, 1.0],
|
||||
}
|
||||
for hand in hands
|
||||
}
|
||||
pattern_period = _pattern_period(args.pattern, args.hold_seconds, args.center_seconds)
|
||||
one_hand_seconds = args.initial_center_seconds + pattern_period
|
||||
full_sweep_seconds = one_hand_seconds * len(hands) if args.both_mode == "staggered" else one_hand_seconds
|
||||
print(
|
||||
"Sample UDP sender: "
|
||||
f"hand={args.hand}, both_mode={args.both_mode}, pattern={args.pattern}, "
|
||||
f"amplitude={args.amplitude:.3f}m, hold={args.hold_seconds:.2f}s, "
|
||||
f"center={args.center_seconds:.2f}s, seconds={args.seconds:.1f}s",
|
||||
flush=True,
|
||||
)
|
||||
if args.pattern != "sine" and args.seconds < full_sweep_seconds:
|
||||
print(
|
||||
"提示：当前 seconds 不足以跑完一轮完整方向序列；"
|
||||
f"建议至少 {full_sweep_seconds:.1f}s。",
|
||||
flush=True,
|
||||
)
|
||||
last_labels = {hand: None for hand in hands}
|
||||
|
||||
while time.monotonic() - t0 < args.seconds:
|
||||
t = time.monotonic() - t0
|
||||
# 模拟按住握持键后缓慢移动手柄，用来测试相对位移控制链路。
|
||||
# 默认用清晰的成对扫轴测试相对位移链路，便于肉眼确认坐标映射。
|
||||
for index, packet in enumerate(packets.values()):
|
||||
phase = index * math.pi
|
||||
hand = packet["hand"]
|
||||
pattern_t = t
|
||||
if args.hand == "both" and args.both_mode == "staggered":
|
||||
hand_start_t = index * one_hand_seconds
|
||||
hand_end_t = hand_start_t + one_hand_seconds
|
||||
if t < hand_start_t:
|
||||
label, pos = "WAIT / center", BASE_POS.copy()
|
||||
elif t >= hand_end_t:
|
||||
label, pos = "DONE / center", BASE_POS.copy()
|
||||
else:
|
||||
pattern_t = t - hand_start_t
|
||||
label, pos = _pattern_position(
|
||||
args.pattern,
|
||||
pattern_t,
|
||||
args.amplitude,
|
||||
args.hold_seconds,
|
||||
args.center_seconds,
|
||||
args.initial_center_seconds,
|
||||
index * math.pi,
|
||||
)
|
||||
else:
|
||||
label, pos = _pattern_position(
|
||||
args.pattern,
|
||||
pattern_t,
|
||||
args.amplitude,
|
||||
args.hold_seconds,
|
||||
args.center_seconds,
|
||||
args.initial_center_seconds,
|
||||
index * math.pi,
|
||||
)
|
||||
|
||||
if label != last_labels[hand]:
|
||||
print(f"[{t:5.2f}s] {hand:<5} {label:<22} pos={pos}", flush=True)
|
||||
last_labels[hand] = label
|
||||
|
||||
packet["t"] = t
|
||||
packet["grip"] = True
|
||||
packet["trigger"] = max(0.0, math.sin(2.0 * math.pi * 0.1 * t))
|
||||
packet["pos"] = [
|
||||
args.amplitude * math.sin(2.0 * math.pi * 0.2 * t + phase),
|
||||
1.0,
|
||||
0.0,
|
||||
]
|
||||
packet["trigger"] = min(max(args.trigger, 0.0), 1.0)
|
||||
packet["pos"] = pos
|
||||
sock.sendto(json.dumps(packet).encode("utf-8"), (args.host, args.port))
|
||||
time.sleep(dt)
|
||||
|
||||
for packet in packets.values():
|
||||
packet["grip"] = False
|
||||
packet["trigger"] = 0.0
|
||||
packet["pos"] = BASE_POS.copy()
|
||||
sock.sendto(json.dumps(packet).encode("utf-8"), (args.host, args.port))
|
||||
|
||||
|
||||
|
||||
@ -1,3 +1,9 @@
|
||||
"""XR 手柄 UDP 接收节点。
|
||||
|
||||
从 UDP JSON 数据包中解析左右手柄位姿、握持键和扳机值，并发布为
|
||||
`xr_rm_interfaces/XrController` 消息，供遥操作和夹爪节点订阅。
|
||||
"""
|
||||
|
||||
import json
|
||||
import socket
|
||||
from collections.abc import Iterable, Mapping
|
||||
@ -90,6 +96,7 @@ class UdpControllerReceiver(Node):
|
||||
|
||||
controllers = payload.get("controllers", payload.get("controller"))
|
||||
if isinstance(controllers, Mapping):
|
||||
# 兼容两类格式：controllers 本身就是单个手柄，或按 left/right 分组。
|
||||
if self._contains_pose(controllers):
|
||||
hand = self._normalize_hand(controllers.get("hand", self._default_hand))
|
||||
yield hand, controllers
|
||||
@ -143,6 +150,7 @@ class UdpControllerReceiver(Node):
|
||||
|
||||
def _extract_pose(self, payload: Mapping[str, Any]) -> tuple[list[float], list[float]]:
|
||||
pose = payload.get("pose")
|
||||
# 支持多种常见字段命名，方便 Unity/OpenXR/Python 调试脚本接入同一节点。
|
||||
if isinstance(pose, Mapping):
|
||||
pos = pose.get("position", pose.get("pos", pose.get("p")))
|
||||
quat = pose.get("orientation", pose.get("quat", pose.get("q", [0.0, 0.0, 0.0, 1.0])))
|
||||
|
||||
@ -1,3 +1,9 @@
|
||||
"""xr_rm_teleop 包安装配置。
|
||||
|
||||
该包提供基于 XR 相对位移的 RM75 笛卡尔速度遥操作节点，以及把
|
||||
手柄 trigger 映射到夹爪力控命令的桥接节点。
|
||||
"""
|
||||
|
||||
from setuptools import setup
|
||||
|
||||
package_name = "xr_rm_teleop"
|
||||
|
||||
@ -1 +1,4 @@
|
||||
"""XR 到 RM75 遥操作节点包。
|
||||
|
||||
核心模块包括单臂速度遥操作、RealMan SDK 适配层和夹爪 trigger 桥接。
|
||||
"""
|
||||
|
||||
@ -1,3 +1,9 @@
|
||||
"""手柄 trigger 到夹爪力控指令的桥接节点。
|
||||
|
||||
订阅 XR 手柄消息，将 trigger 压力映射为 OmniPicker 可使用的归一化
|
||||
闭合力比例，并在消息超时或未握持时自动回到开爪指令。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import rclpy
|
||||
@ -62,6 +68,7 @@ class GripperTriggerBridge(Node):
|
||||
def _publish_command(self) -> None:
|
||||
command = self._open_command
|
||||
|
||||
# 手柄消息超时后立即退回开爪，避免夹爪在通信中断时保持闭合力。
|
||||
if self._last_msg is not None and self._last_msg_time is not None:
|
||||
age = (self.get_clock().now() - self._last_msg_time).nanoseconds * 1e-9
|
||||
if age <= self._stale_timeout_sec:
|
||||
|
||||
@ -1,5 +1,12 @@
|
||||
"""RM75 机械臂适配层。
|
||||
|
||||
对上提供统一的当前位姿读取、笛卡尔速度发送和停止接口；对下根据配置
|
||||
选择 mock 积分模拟器或睿尔曼 Python API2 真机通信。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import time
|
||||
from dataclasses import dataclass
|
||||
from numbers import Number
|
||||
from typing import Any
|
||||
@ -72,6 +79,9 @@ class RealManAdapter:
|
||||
initial_joint_pose: list[float] | None = None,
|
||||
initial_tcp_pose: list[float] | None = None,
|
||||
init_move_speed: int = 20,
|
||||
command_mode: str = "velocity",
|
||||
canfd_trajectory_mode: int = 2,
|
||||
canfd_radio: int = 0,
|
||||
) -> None:
|
||||
self._robot_ip = robot_ip
|
||||
self._robot_port = robot_port
|
||||
@ -90,7 +100,12 @@ class RealManAdapter:
|
||||
self._initial_joint_pose = initial_joint_pose
|
||||
self._initial_tcp_pose = initial_tcp_pose
|
||||
self._init_move_speed = init_move_speed
|
||||
self._command_mode = command_mode
|
||||
self._canfd_trajectory_mode = canfd_trajectory_mode
|
||||
self._canfd_radio = canfd_radio
|
||||
self._arm: Any | None = None
|
||||
if self._command_mode not in ("velocity", "pose_canfd"):
|
||||
raise ValueError("command_mode must be one of: velocity, pose_canfd")
|
||||
|
||||
def connect(self) -> None:
|
||||
try:
|
||||
@ -103,17 +118,21 @@ class RealManAdapter:
|
||||
self._arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
|
||||
handle = self._arm.rm_create_robot_arm(self._robot_ip, self._robot_port)
|
||||
self._check_robot_handle(handle)
|
||||
self._log_info(
|
||||
"RealMan connected: "
|
||||
f"ip={self._robot_ip}, port={self._robot_port}, "
|
||||
f"avoid_singularity={self._avoid_singularity}, "
|
||||
f"frame_type={self._frame_type}, dt_ms={self._dt_ms}, "
|
||||
f"command_mode={self._command_mode}"
|
||||
)
|
||||
if self._configure_safety_limits:
|
||||
self._apply_safety_limits()
|
||||
if self._move_to_initial_pose_on_connect:
|
||||
self._move_to_initial_pose()
|
||||
# 速度透传初始化必须和控制循环周期一致，避免真实机械臂出现周期不稳定。
|
||||
ret = self._arm.rm_set_movev_canfd_init(
|
||||
self._avoid_singularity,
|
||||
self._frame_type,
|
||||
self._dt_ms,
|
||||
)
|
||||
self._check_return(ret, "rm_set_movev_canfd_init")
|
||||
if self._command_mode == "velocity":
|
||||
self._init_movev_canfd()
|
||||
else:
|
||||
self._log_info("command_mode=pose_canfd，跳过 rm_set_movev_canfd_init。")
|
||||
|
||||
def get_current_pose(self) -> ArmPose:
|
||||
self._require_arm()
|
||||
@ -125,13 +144,31 @@ class RealManAdapter:
|
||||
|
||||
def send_cartesian_velocity(self, velocity: list[float], follow: bool) -> None:
|
||||
self._require_arm()
|
||||
if self._command_mode == "pose_canfd":
|
||||
return
|
||||
ret = self._arm.rm_movev_canfd(velocity, follow, 0, 0)
|
||||
self._check_return(ret, "rm_movev_canfd")
|
||||
|
||||
def send_cartesian_target(self, pose: ArmPose, follow: bool) -> None:
|
||||
self._require_arm()
|
||||
if self._command_mode != "pose_canfd":
|
||||
raise RuntimeError("send_cartesian_target requires command_mode=pose_canfd")
|
||||
ret = self._arm.rm_movep_canfd(
|
||||
[pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz],
|
||||
follow,
|
||||
self._canfd_trajectory_mode,
|
||||
self._canfd_radio,
|
||||
)
|
||||
self._check_return(ret, "rm_movep_canfd")
|
||||
|
||||
def uses_pose_targets(self) -> bool:
|
||||
return self._command_mode == "pose_canfd"
|
||||
|
||||
def stop(self) -> None:
|
||||
if self._arm is None:
|
||||
return
|
||||
try:
|
||||
if self._command_mode == "velocity":
|
||||
self._arm.rm_movev_canfd([0.0] * 6, False, 0, 0)
|
||||
self._arm.rm_set_arm_slow_stop()
|
||||
except Exception:
|
||||
@ -151,7 +188,8 @@ class RealManAdapter:
|
||||
raise RuntimeError("睿尔曼机械臂尚未连接")
|
||||
|
||||
def _apply_safety_limits(self) -> None:
|
||||
self._try_call("rm_set_avoid_singularity_mode", True)
|
||||
# 真机安全限幅尽量下发到控制器；不支持的 SDK 接口会在 _try_call 中降级为警告。
|
||||
self._try_call("rm_set_avoid_singularity_mode", int(self._avoid_singularity))
|
||||
self._try_call("rm_set_arm_max_line_speed", self._max_line_speed)
|
||||
self._try_call("rm_set_arm_max_angular_speed", self._max_angular_speed)
|
||||
self._try_call("rm_set_arm_max_line_acc", self._max_line_acc)
|
||||
@ -169,6 +207,46 @@ class RealManAdapter:
|
||||
ret = self._arm.rm_movel(self._initial_tcp_pose, self._init_move_speed, 0, 0, 1)
|
||||
self._check_return(ret, "rm_movel(initial_tcp_pose)")
|
||||
|
||||
def _init_movev_canfd(self) -> None:
|
||||
attempts = 3
|
||||
candidates = [self._avoid_singularity]
|
||||
if self._avoid_singularity != 0:
|
||||
candidates.append(0)
|
||||
|
||||
# 某些现场控制器初始化避奇异模式会超时，失败后自动降级到 0 再重试。
|
||||
last_ret: Any = None
|
||||
for avoid_singularity in candidates:
|
||||
if avoid_singularity != self._avoid_singularity:
|
||||
self._log_warn("rm_set_movev_canfd_init 降级为 avoid_singularity=0 后重试。")
|
||||
|
||||
for attempt in range(1, attempts + 1):
|
||||
ret = self._arm.rm_set_movev_canfd_init(
|
||||
avoid_singularity,
|
||||
self._frame_type,
|
||||
self._dt_ms,
|
||||
)
|
||||
last_ret = ret
|
||||
code = self._return_code(ret)
|
||||
if code == 0:
|
||||
self._avoid_singularity = avoid_singularity
|
||||
self._log_info(
|
||||
"rm_set_movev_canfd_init 成功："
|
||||
f"avoid_singularity={avoid_singularity}, "
|
||||
f"frame_type={self._frame_type}, dt_ms={self._dt_ms}"
|
||||
)
|
||||
return
|
||||
|
||||
self._log_warn(
|
||||
"rm_set_movev_canfd_init 失败："
|
||||
f"avoid_singularity={avoid_singularity}, "
|
||||
f"frame_type={self._frame_type}, dt_ms={self._dt_ms}, "
|
||||
f"attempt={attempt}/{attempts}, ret={ret!r}"
|
||||
)
|
||||
if attempt < attempts:
|
||||
time.sleep(0.2)
|
||||
|
||||
self._check_return(last_ret, "rm_set_movev_canfd_init")
|
||||
|
||||
def _try_call(self, name: str, *args: Any) -> None:
|
||||
func = getattr(self._arm, name, None)
|
||||
if func is None:
|
||||
@ -185,18 +263,28 @@ class RealManAdapter:
|
||||
if self._logger is not None:
|
||||
self._logger.warn(message)
|
||||
|
||||
@staticmethod
|
||||
def _check_robot_handle(handle: Any) -> None:
|
||||
def _log_info(self, message: str) -> None:
|
||||
if self._logger is not None:
|
||||
self._logger.info(message)
|
||||
|
||||
def _check_robot_handle(self, handle: Any) -> None:
|
||||
handle_id = getattr(handle, "id", None)
|
||||
if handle_id == -1:
|
||||
raise RuntimeError("rm_create_robot_arm failed: socket error or robot unreachable")
|
||||
raise RuntimeError(
|
||||
"rm_create_robot_arm failed: TCP may be reachable, but the RealMan "
|
||||
f"controller did not return robot info from {self._robot_ip}:{self._robot_port}"
|
||||
)
|
||||
|
||||
@staticmethod
|
||||
def _check_return(ret: Any, name: str) -> None:
|
||||
code = ret[0] if isinstance(ret, tuple) and ret else ret
|
||||
code = RealManAdapter._return_code(ret)
|
||||
if isinstance(code, int) and code != 0:
|
||||
raise RuntimeError(f"{name} failed with code {code}: {ret!r}")
|
||||
|
||||
@staticmethod
|
||||
def _return_code(ret: Any) -> Any:
|
||||
return ret[0] if isinstance(ret, tuple) and ret else ret
|
||||
|
||||
@classmethod
|
||||
def _find_pose(cls, obj: Any) -> list[float] | None:
|
||||
# 不同 SDK 版本返回字段可能略有差异，因此递归查找常见 TCP 位姿字段。
|
||||
|
||||
@ -1,3 +1,9 @@
|
||||
"""RM75 单臂 XR 相对位移遥操作节点。
|
||||
|
||||
节点订阅左/右手柄位姿，在 grip 按下时锁定手柄和 TCP 起点，把手柄相对位移
|
||||
映射到机器人坐标系中的目标 TCP，并通过笛卡尔速度命令跟随该目标。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import math
|
||||
@ -60,6 +66,9 @@ class SingleArmVelocityTeleop(Node):
|
||||
self.declare_parameter("initial_joint_pose", [0.0] * 7)
|
||||
self.declare_parameter("initial_tcp_pose", [0.35, 0.0, 0.30, 0.0, 0.0, 0.0])
|
||||
self.declare_parameter("init_move_speed", 20)
|
||||
self.declare_parameter("command_mode", "velocity")
|
||||
self.declare_parameter("canfd_trajectory_mode", 2)
|
||||
self.declare_parameter("canfd_radio", 0)
|
||||
self.declare_parameter("debug_topic_prefix", "/xr_rm")
|
||||
|
||||
self._arm_name = str(self.get_parameter("arm_name").value)
|
||||
@ -107,6 +116,7 @@ class SingleArmVelocityTeleop(Node):
|
||||
self.get_logger().info(f"{self._arm_name} 速度遥操节点已启动，监听话题：{topic}")
|
||||
|
||||
def _make_adapter(self):
|
||||
# mock 和真机共享同一控制逻辑，只在适配层切换运动命令的执行方式。
|
||||
if self._bool_parameter("use_mock"):
|
||||
return MockRealManAdapter(
|
||||
[float(v) for v in self.get_parameter("mock_initial_pose").value],
|
||||
@ -131,6 +141,9 @@ class SingleArmVelocityTeleop(Node):
|
||||
initial_joint_pose=self._float_list_parameter("initial_joint_pose", 7),
|
||||
initial_tcp_pose=self._float_list_parameter("initial_tcp_pose", 6),
|
||||
init_move_speed=int(self.get_parameter("init_move_speed").value),
|
||||
command_mode=str(self.get_parameter("command_mode").value),
|
||||
canfd_trajectory_mode=int(self.get_parameter("canfd_trajectory_mode").value),
|
||||
canfd_radio=int(self.get_parameter("canfd_radio").value),
|
||||
)
|
||||
|
||||
def _on_controller(self, msg: XrController) -> None:
|
||||
@ -206,6 +219,23 @@ class SingleArmVelocityTeleop(Node):
|
||||
]
|
||||
cartesian_velocity = self._filtered_velocity + [0.0, 0.0, 0.0]
|
||||
self._publish_debug(robot_pose, target, cartesian_velocity)
|
||||
if self._adapter_uses_pose_targets():
|
||||
step_target = [
|
||||
robot_now[i] + cartesian_velocity[i] * self._dt
|
||||
for i in range(3)
|
||||
]
|
||||
step_target = self._clamp_workspace(step_target)
|
||||
self._send_cartesian_target(
|
||||
ArmPose(
|
||||
x=step_target[0],
|
||||
y=step_target[1],
|
||||
z=step_target[2],
|
||||
rx=robot_pose.rx,
|
||||
ry=robot_pose.ry,
|
||||
rz=robot_pose.rz,
|
||||
)
|
||||
)
|
||||
else:
|
||||
self._send_cartesian_velocity(cartesian_velocity)
|
||||
|
||||
@staticmethod
|
||||
@ -221,6 +251,7 @@ class SingleArmVelocityTeleop(Node):
|
||||
]
|
||||
|
||||
def _clamp_workspace(self, target: list[float]) -> list[float]:
|
||||
# 先做盒状工作空间限幅，再叠加底座圆柱半径限制。
|
||||
clamped = [
|
||||
_clamp(target[i], self._workspace_min[i], self._workspace_max[i])
|
||||
for i in range(3)
|
||||
@ -259,6 +290,8 @@ class SingleArmVelocityTeleop(Node):
|
||||
def _safe_stop(self) -> None:
|
||||
# 所有断连、松手、退出路径都走这里，确保发送零速度。
|
||||
self._filtered_velocity = [0.0, 0.0, 0.0]
|
||||
if self._adapter_uses_pose_targets():
|
||||
return
|
||||
self._send_cartesian_velocity([0.0] * 6)
|
||||
|
||||
def _send_cartesian_velocity(self, velocity: list[float]) -> None:
|
||||
@ -271,6 +304,20 @@ class SingleArmVelocityTeleop(Node):
|
||||
)
|
||||
self._active = False
|
||||
|
||||
def _send_cartesian_target(self, pose: ArmPose) -> None:
|
||||
try:
|
||||
self._adapter.send_cartesian_target(pose, self._follow)
|
||||
except Exception as exc:
|
||||
self.get_logger().error(
|
||||
f"{self._arm_name} 发送位姿透传命令失败：{exc}",
|
||||
throttle_duration_sec=1.0,
|
||||
)
|
||||
self._active = False
|
||||
|
||||
def _adapter_uses_pose_targets(self) -> bool:
|
||||
uses_pose_targets = getattr(self._adapter, "uses_pose_targets", None)
|
||||
return bool(uses_pose_targets is not None and uses_pose_targets())
|
||||
|
||||
def _publish_debug(self, current_pose: ArmPose, target_xyz: list[float], velocity: list[float]) -> None:
|
||||
stamp = self.get_clock().now().to_msg()
|
||||
current_msg = self._pose_msg(stamp, current_pose)
|
||||
|
||||
Reference in New Issue
Block a user