From e484b274c56f5da9073cd877d00c840c7e224c67 Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Fri, 27 Feb 2026 14:43:49 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9can=E7=AB=AF=E5=8F=A3?=
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---
 .../config/joint_limits.yaml                  | 32 +++++++++----------
 .../launch/demo.launch.py                     |  4 +--
 .../launch/openarm.bimanual.launch.py         |  4 +--
 openarm_bringup/launch/openarm.launch.py      |  2 +-
 openarm_hardware/src/v10_simple_hardware.cpp  |  2 +-
 5 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/openarm_bimanual_moveit_config/config/joint_limits.yaml b/openarm_bimanual_moveit_config/config/joint_limits.yaml
index 995f999..adef65b 100644
--- a/openarm_bimanual_moveit_config/config/joint_limits.yaml
+++ b/openarm_bimanual_moveit_config/config/joint_limits.yaml
@@ -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
diff --git a/openarm_bimanual_moveit_config/launch/demo.launch.py b/openarm_bimanual_moveit_config/launch/demo.launch.py
index 5ed6731..0b2ebfe 100644
--- a/openarm_bimanual_moveit_config/launch/demo.launch.py
+++ b/openarm_bimanual_moveit_config/launch/demo.launch.py
@@ -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",
diff --git a/openarm_bringup/launch/openarm.bimanual.launch.py b/openarm_bringup/launch/openarm.bimanual.launch.py
index 99250a5..4f1418f 100644
--- a/openarm_bringup/launch/openarm.bimanual.launch.py
+++ b/openarm_bringup/launch/openarm.bimanual.launch.py
@@ -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(
diff --git a/openarm_bringup/launch/openarm.launch.py b/openarm_bringup/launch/openarm.launch.py
index 847bbd0..b1bee20 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="can0",
+            default_value="can4",
             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 69f305c..1a42257 100644
--- a/openarm_hardware/src/v10_simple_hardware.cpp
+++ b/openarm_hardware/src/v10_simple_hardware.cpp
@@ -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)