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增加调试信息，关闭moveit servo

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shen 2026-03-10 14:11:47 +08:00
parent 7e56481419
commit 8fc3db0bee
3 changed files with 6 additions and 2 deletions
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2
openarm_bimanual_moveit_config/launch/demo.launch.py
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@ -348,6 +348,6 @@ def generate_launch_description():
delayed_gripper, delayed_gripper,
run_move_group_node, run_move_group_node,
rviz_node, rviz_node,
delayed_servo, # delayed_servo,
] ]
) )

2
openarm_bringup/launch/openarm.launch.py
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@ -140,7 +140,7 @@ def generate_launch_description():
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"can_interface", "can_interface",
default_value="can4", default_value="can0",
description="CAN interface to use.", description="CAN interface to use.",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(

4
openarm_hardware/src/v10_simple_hardware.cpp
View File

@ -274,6 +274,10 @@ hardware_interface::return_type OpenArm_v10HW::write(
for (size_t i = 0; i < ARM_DOF; ++i) { for (size_t i = 0; i < ARM_DOF; ++i) {
arm_params.push_back( arm_params.push_back(
{kp_[i], kd_[i], pos_commands_[i], vel_commands_[i], tau_commands_[i]}); {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); openarm_->get_arm().mit_control_all(arm_params);
// Control gripper if enabled // Control gripper if enabled