From 8fc3db0bee193e60b87661c045a82c76431f65c9 Mon Sep 17 00:00:00 2001 From: shen <664376944@qq.com> Date: Tue, 10 Mar 2026 14:11:47 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E8=B0=83=E8=AF=95=E4=BF=A1?= =?UTF-8?q?=E6=81=AF=EF=BC=8C=E5=85=B3=E9=97=ADmoveit=20servo?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- openarm_bimanual_moveit_config/launch/demo.launch.py | 2 +- openarm_bringup/launch/openarm.launch.py | 2 +- openarm_hardware/src/v10_simple_hardware.cpp | 4 ++++ 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/openarm_bimanual_moveit_config/launch/demo.launch.py b/openarm_bimanual_moveit_config/launch/demo.launch.py index 8afef71..9b348de 100644 --- a/openarm_bimanual_moveit_config/launch/demo.launch.py +++ b/openarm_bimanual_moveit_config/launch/demo.launch.py @@ -348,6 +348,6 @@ def generate_launch_description(): delayed_gripper, run_move_group_node, rviz_node, - delayed_servo, + # delayed_servo, ] ) diff --git a/openarm_bringup/launch/openarm.launch.py b/openarm_bringup/launch/openarm.launch.py index b1bee20..847bbd0 100644 --- a/openarm_bringup/launch/openarm.launch.py +++ b/openarm_bringup/launch/openarm.launch.py @@ -140,7 +140,7 @@ def generate_launch_description(): ), DeclareLaunchArgument( "can_interface", - default_value="can4", + default_value="can0", description="CAN interface to use.", ), DeclareLaunchArgument( diff --git a/openarm_hardware/src/v10_simple_hardware.cpp b/openarm_hardware/src/v10_simple_hardware.cpp index 1a42257..9f636cb 100644 --- a/openarm_hardware/src/v10_simple_hardware.cpp +++ b/openarm_hardware/src/v10_simple_hardware.cpp @@ -274,6 +274,10 @@ hardware_interface::return_type OpenArm_v10HW::write( for (size_t i = 0; i < ARM_DOF; ++i) { arm_params.push_back( {kp_[i], kd_[i], pos_commands_[i], vel_commands_[i], tau_commands_[i]}); + // if(vel_commands_[i] != 0) + // std::cout << "Arm Joint " << i + 1 << ": pos_cmd=" << pos_commands_[i] + // << ", vel_cmd=" << vel_commands_[i] + // << ", tau_cmd=" << tau_commands_[i] << std::endl; } openarm_->get_arm().mit_control_all(arm_params); // Control gripper if enabled