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增加速度控制器

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This commit is contained in:
shen 2026-03-06 11:08:26 +08:00
parent 5fe4345915
commit 7e56481419
2 changed files with 12 additions and 4 deletions
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8
openarm_bimanual_moveit_config/launch/demo.launch.py
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@ -125,6 +125,9 @@ def controller_spawner(context: LaunchContext, robot_controller):
if robot_controller_str == "forward_position_controller": if robot_controller_str == "forward_position_controller":
left = "left_forward_position_controller" left = "left_forward_position_controller"
right = "right_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": elif robot_controller_str == "joint_trajectory_controller":
left = "left_joint_trajectory_controller" left = "left_joint_trajectory_controller"
right = "right_joint_trajectory_controller" right = "right_joint_trajectory_controller"
@ -221,14 +224,15 @@ def generate_launch_description():
"robot_controller", "robot_controller",
default_value="joint_trajectory_controller", default_value="joint_trajectory_controller",
choices=["forward_position_controller", choices=["forward_position_controller",
"forward_velocity_controller",
"joint_trajectory_controller"], "joint_trajectory_controller"],
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"runtime_config_package", default_value="openarm_bringup" "runtime_config_package", default_value="openarm_bringup"
), ),
DeclareLaunchArgument("arm_prefix", default_value=""), DeclareLaunchArgument("arm_prefix", default_value=""),
DeclareLaunchArgument("right_can_interface", default_value="can4"), DeclareLaunchArgument("right_can_interface", default_value="can0"),
DeclareLaunchArgument("left_can_interface", default_value="can5"), DeclareLaunchArgument("left_can_interface", default_value="can1"),
DeclareLaunchArgument( DeclareLaunchArgument(
"controllers_file", "controllers_file",
default_value="openarm_v10_bimanual_controllers.yaml", default_value="openarm_v10_bimanual_controllers.yaml",

8
openarm_bringup/launch/openarm.bimanual.launch.py
View File

@ -115,6 +115,9 @@ def controller_spawner(context: LaunchContext, robot_controller, arm_prefix):
if robot_controller_str == "forward_position_controller": if robot_controller_str == "forward_position_controller":
robot_controller_left = "left_forward_position_controller" robot_controller_left = "left_forward_position_controller"
robot_controller_right = "right_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": elif robot_controller_str == "joint_trajectory_controller":
robot_controller_left = "left_joint_trajectory_controller" robot_controller_left = "left_joint_trajectory_controller"
robot_controller_right = "right_joint_trajectory_controller" robot_controller_right = "right_joint_trajectory_controller"
@ -161,6 +164,7 @@ def generate_launch_description():
"robot_controller", "robot_controller",
default_value="joint_trajectory_controller", default_value="joint_trajectory_controller",
choices=["forward_position_controller", choices=["forward_position_controller",
"forward_velocity_controller",
"joint_trajectory_controller"], "joint_trajectory_controller"],
description="Robot controller to start.", description="Robot controller to start.",
), ),
@ -176,12 +180,12 @@ def generate_launch_description():
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"right_can_interface", "right_can_interface",
default_value="can4", default_value="can0",
description="CAN interface to use for the right arm.", description="CAN interface to use for the right arm.",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"left_can_interface", "left_can_interface",
default_value="can5", default_value="can1",
description="CAN interface to use for the left arm.", description="CAN interface to use for the left arm.",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(