From 7e564814193569479a1cd43035df737e0a547129 Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Fri, 6 Mar 2026 11:08:26 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=80=9F=E5=BA=A6=E6=8E=A7?=
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---
 openarm_bimanual_moveit_config/launch/demo.launch.py | 8 ++++++--
 openarm_bringup/launch/openarm.bimanual.launch.py    | 8 ++++++--
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/openarm_bimanual_moveit_config/launch/demo.launch.py b/openarm_bimanual_moveit_config/launch/demo.launch.py
index 0725904..8afef71 100644
--- a/openarm_bimanual_moveit_config/launch/demo.launch.py
+++ b/openarm_bimanual_moveit_config/launch/demo.launch.py
@@ -125,6 +125,9 @@ def controller_spawner(context: LaunchContext, robot_controller):
     if robot_controller_str == "forward_position_controller":
         left = "left_forward_position_controller"
         right = "right_forward_position_controller"
+    elif robot_controller_str == "forward_velocity_controller":
+        left = "left_forward_velocity_controller"
+        right = "right_forward_velocity_controller"
     elif robot_controller_str == "joint_trajectory_controller":
         left = "left_joint_trajectory_controller"
         right = "right_joint_trajectory_controller"
@@ -221,14 +224,15 @@ def generate_launch_description():
             "robot_controller",
             default_value="joint_trajectory_controller",
             choices=["forward_position_controller",
+                     "forward_velocity_controller",
                      "joint_trajectory_controller"],
         ),
         DeclareLaunchArgument(
             "runtime_config_package", default_value="openarm_bringup"
         ),
         DeclareLaunchArgument("arm_prefix", default_value=""),
-        DeclareLaunchArgument("right_can_interface", default_value="can4"),
-        DeclareLaunchArgument("left_can_interface", default_value="can5"),
+        DeclareLaunchArgument("right_can_interface", default_value="can0"),
+        DeclareLaunchArgument("left_can_interface", default_value="can1"),
         DeclareLaunchArgument(
             "controllers_file",
             default_value="openarm_v10_bimanual_controllers.yaml",
diff --git a/openarm_bringup/launch/openarm.bimanual.launch.py b/openarm_bringup/launch/openarm.bimanual.launch.py
index 4f1418f..a37a6e0 100644
--- a/openarm_bringup/launch/openarm.bimanual.launch.py
+++ b/openarm_bringup/launch/openarm.bimanual.launch.py
@@ -115,6 +115,9 @@ def controller_spawner(context: LaunchContext, robot_controller, arm_prefix):
     if robot_controller_str == "forward_position_controller":
         robot_controller_left = "left_forward_position_controller"
         robot_controller_right = "right_forward_position_controller"
+    elif robot_controller_str == "forward_velocity_controller":
+        robot_controller_left = "left_forward_velocity_controller"
+        robot_controller_right = "right_forward_velocity_controller"
     elif robot_controller_str == "joint_trajectory_controller":
         robot_controller_left = "left_joint_trajectory_controller"
         robot_controller_right = "right_joint_trajectory_controller"
@@ -161,6 +164,7 @@ def generate_launch_description():
             "robot_controller",
             default_value="joint_trajectory_controller",
             choices=["forward_position_controller",
+                     "forward_velocity_controller",
                      "joint_trajectory_controller"],
             description="Robot controller to start.",
         ),
@@ -176,12 +180,12 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             "right_can_interface",
-            default_value="can4",
+            default_value="can0",
             description="CAN interface to use for the right arm.",
         ),
         DeclareLaunchArgument(
             "left_can_interface",
-            default_value="can5",
+            default_value="can1",
             description="CAN interface to use for the left arm.",
         ),
         DeclareLaunchArgument(