ZhengLiu-cart/acRealman_xr_from_Yikai
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feat: Enhance single arm velocity teleoperation with zero velocity handling and new parameters

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YikaiFu-cart
2026-05-26 13:51:15 +08:00
parent e57890cb11
commit f137e28ed7
9 changed files with 933 additions and 67 deletions
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@ -112,9 +112,10 @@ ros2 run xr_rm_bringup launcher_ui
- `Check Env`：检查 ROS2 Humble、工作空间 build、终端、核心 ROS 包、睿尔曼 API2。
- `Stop All`：结束由本工作空间启动的 launch、sample sender、topic monitor、相关 ROS 节点和终端窗口。
每个模式都会附带两个监控入口：
每个模式都会附带三个监控入口：
- `Open Controller Topic Monitor`：用 Terminator 分屏同时查看 `/xr/left_controller` 和 `/xr/right_controller`。
- `Open Cmd Vel Topic Monitor`：用 Terminator 分屏同时查看 `/xr_rm/left_rm75/cmd_vel` 和 `/xr_rm/right_rm75/cmd_vel`。
- `Open ROS Topic/Node List Monitor`：用 Terminator 分屏每秒刷新 `ros2 topic list` 和 `ros2 node list`。
分屏监控依赖 `x-terminal-emulator` 指向 Terminator。若提示不支持，可安装并切换：