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修改can端口号

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This commit is contained in:
shen 2026-02-27 14:43:49 +08:00
parent 73ef898387
commit e484b274c5
5 changed files with 22 additions and 22 deletions
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32
openarm_bimanual_moveit_config/config/joint_limits.yaml
View File

@ -25,43 +25,43 @@ joint_limits:
openarm_left_finger_joint1:
has_velocity_limits: true
max_velocity: 10.0
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint1:
has_velocity_limits: true
max_velocity: 16.754666
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint2:
has_velocity_limits: true
max_velocity: 16.754666
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint3:
has_velocity_limits: true
max_velocity: 5.445426
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint4:
has_velocity_limits: true
max_velocity: 5.445426
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint5:
has_velocity_limits: true
max_velocity: 20.943946
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint6:
has_velocity_limits: true
max_velocity: 20.943946
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_left_joint7:
has_velocity_limits: true
max_velocity: 20.943946
has_acceleration_limits: false
max_acceleration: 0.0
has_acceleration_limits: true
max_acceleration: 4.0
openarm_right_finger_joint1:
has_velocity_limits: true
max_velocity: 10.0

4
openarm_bimanual_moveit_config/launch/demo.launch.py
View File

@ -160,8 +160,8 @@ def generate_launch_description():
"runtime_config_package", default_value="openarm_bringup"
),
DeclareLaunchArgument("arm_prefix", default_value=""),
DeclareLaunchArgument("right_can_interface", default_value="can0"),
DeclareLaunchArgument("left_can_interface", default_value="can1"),
DeclareLaunchArgument("right_can_interface", default_value="can4"),
DeclareLaunchArgument("left_can_interface", default_value="can5"),
DeclareLaunchArgument(
"controllers_file",
default_value="openarm_v10_bimanual_controllers.yaml",

4
openarm_bringup/launch/openarm.bimanual.launch.py
View File

@ -176,12 +176,12 @@ def generate_launch_description():
),
DeclareLaunchArgument(
"right_can_interface",
default_value="can0",
default_value="can4",
description="CAN interface to use for the right arm.",
),
DeclareLaunchArgument(
"left_can_interface",
default_value="can1",
default_value="can5",
description="CAN interface to use for the left arm.",
),
DeclareLaunchArgument(

2
openarm_bringup/launch/openarm.launch.py
View File

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

2
openarm_hardware/src/v10_simple_hardware.cpp
View File

@ -31,7 +31,7 @@ OpenArm_v10HW::OpenArm_v10HW() = default;
bool OpenArm_v10HW::parse_config(const hardware_interface::HardwareInfo& info) {
// Parse CAN interface (default: can0)
auto it = info.hardware_parameters.find("can_interface");
can_interface_ = (it != info.hardware_parameters.end()) ? it->second : "can0";
can_interface_ = (it != info.hardware_parameters.end()) ? it->second : "can4";
// Parse arm prefix (default: empty for single arm, "left_" or "right_" for
// bimanual)