Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
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+# config/
+
+| 文件 | git | 说明 |
+|------|-----|------|
+| `site.example.yaml` | 提交 | 模板。克隆后复制为 `site.yaml` |
+| `site.yaml` | 不提交 | 本机 SN、IP、相机、锁高、权重路径 |
+| `fastdds_visual_servo.xml` | 提交 | 可选 DDS；默认 `site.yaml` 里 `fastdds_profile: ""` |
+
+改跟踪 / 手眼 / 相机：**只改 `site.yaml`**。字段说明见 [docs/SITE_CONFIG.md](../docs/SITE_CONFIG.md)。
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+<?xml version="1.0" encoding="UTF-8" ?>
+<!--
+  visual-servo 硬实时路径用的 FastDDS 配置（Ubuntu 22.04 / Humble 默认 RMW）。
+
+  用法：
+    export FASTRTPS_DEFAULT_PROFILES_FILE=~/ros2/config/fastdds_visual_servo.xml
+    export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+  目标：
+    - 低延迟的控制话题优先使用 UDP 单播
+    - 缩短发现 / 参与者租约，避免后加入的节点把 100 Hz 卡住
+    - 保持较浅的历史队列，让订阅者永远不必去追积压的旧数据
+-->
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+  <transport_descriptors>
+    <transport_descriptor>
+      <transport_id>udp_transport</transport_id>
+      <type>UDPv4</type>
+      <!-- 避免繁重的感知与伺服之间因共享内存积压而卡顿 -->
+      <maxMessageSize>65500</maxMessageSize>
+    </transport_descriptor>
+  </transport_descriptors>
+
+  <participant profile_name="visual_servo_participant" is_default_profile="true">
+    <rtps>
+      <userTransports>
+        <transport_id>udp_transport</transport_id>
+      </userTransports>
+      <useBuiltinTransports>false</useBuiltinTransports>
+      <builtin>
+        <discovery_config>
+          <!-- 加快发现；缩短租约，让已经死掉的节点尽快被剔除 -->
+          <leaseDuration>
+            <sec>10</sec>
+            <nanosec>0</nanosec>
+          </leaseDuration>
+          <leaseAnnouncement>
+            <sec>3</sec>
+            <nanosec>0</nanosec>
+          </leaseAnnouncement>
+          <initialAnnouncements>
+            <count>5</count>
+            <period>
+              <sec>0</sec>
+              <nanosec>100000000</nanosec>
+            </period>
+          </initialAnnouncements>
+        </discovery_config>
+      </builtin>
+    </rtps>
+  </participant>
+
+  <!-- 感知图像话题：BEST_EFFORT + KEEP_LAST（丢弃旧帧） -->
+  <data_reader profile_name="sensor_best_effort">
+    <qos>
+      <reliability>
+        <kind>BEST_EFFORT</kind>
+      </reliability>
+      <history>
+        <kind>KEEP_LAST</kind>
+        <depth>5</depth>
+      </history>
+      <durability>
+        <kind>VOLATILE</kind>
+      </durability>
+    </qos>
+  </data_reader>
+
+  <!-- /visual_servo/cmd_vel：永远只保留最新的 Twist -->
+  <data_writer profile_name="cmd_vel_latest">
+    <qos>
+      <reliability>
+        <kind>RELIABLE</kind>
+      </reliability>
+      <history>
+        <kind>KEEP_LAST</kind>
+        <depth>1</depth>
+      </history>
+      <durability>
+        <kind>VOLATILE</kind>
+      </durability>
+    </qos>
+  </data_writer>
+</profiles>
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+# 左臂 89 当前生效的参数。从旧仓库 config/site.yaml 抽出，去掉注释。
+# 节点代码还在读旧的 site.yaml，这一份还没接上。
+
+robot:
+  sn: "Rizon4-063989"
+  ip: "192.168.2.101"
+  pc_ip: "192.168.2.50"
+  iface: "enp4s0"
+  tool_name: "tool10120938"
+  tcp_xyz_m: [-0.0005, 0.0067, 0.2245]
+  tcp_qwxyz: [1.0, 0.0, 0.0, 0.0]
+  workpiece_surface_z_m: 0.022
+  handeye_file: "handeye/results/89_eye_in_hand.yaml"
+  ft_wrench_topic: "/Rizon4_063989/external_wrench_in_tcp"
+
+camera:
+  wrist_name: "d405_left"
+  wrist_serial: "352122274408"
+  wrist_ae_limit_us: 4000
+  wrist_emitter: false
+  overhead_width: 848
+  overhead_height: 480
+  overhead_fps: 15
+  overhead_ae_limit_us: 8000
+
+yolo:
+  weights: "models/yolo/gongjian0929.onnx"
+  backend: "onnx"
+  conf: 0.10
+  iou: 0.45
+  imgsz: 640
+  device: "0"
+  half_precision: true
+  min_conf: 0.12
+  reacquire_conf: 0.55
+  vision_hz: 30.0
+  feature_mode: "keypoint"
+  keypoint_index: 0
+  keypoint_min_conf: 0.30
+  keypoint_border_px: 6
+  track_max_step_m: 0.04
+  reacquire_far_px: 120
+  reacquire_confirm_frames: 3
+  jump_px: 400.0
+  jump_z_m: 0.10
+  z_ref_m: 0.22
+  min_depth_m: 0.04
+  max_depth_m: 0.55
+  feature_min_range_m: 0.14
+  meas_blend: 0.85
+  camera_frame: "d405_color_optical_frame"
+
+servo:
+  control_hz: 100.0
+  ee_z_m: 0.320
+  hole_hover_z_m: 0.320
+  min_ee_z_m: 0.20
+  safe_z_m: 0.45
+  z_min_m: 0.22
+  xy_track: "hover"
+  ee_vertical_down: true
+  kp_xy: 4.20
+  kd_xy: 0.20
+  kp_z: 0.80
+  kd_z: 0.35
+  deadzone_m: 0.003
+  v_max_xy: 0.45
+  v_max_z: 0.04
+  slow_far_m: 0.05
+  v_slow_xy: 0.08
+  a_max: 3.00
+  workspace_xyz_min: [0.08, -0.55, 0.18]
+  workspace_xyz_max: [0.85, 0.55, 0.65]
+  wrist_align_sec: 0.5
+  d435_handback_sec: 0.5
+  jump_confirm_frames: 3
+  traj_topic: "rizon_arm_controller/joint_trajectory"
+  point_topic: "visual_servo/filtered_point"
+
+hole:
+  backend: "two_stage"
+  conf: 0.25
+  iou: 0.7
+  imgsz: 640
+  target_hole: "k1"
+  align_tol_m: 0.00025
+  align_max_iters: 12
+  final_gap_mm: 2.0
+  observe_gap_mm: 15.0
+  hough_param2: 26
+  hough_min_radius: 6
+  hough_max_radius: 30
+  expected_holes: 2
+
+perception:
+  source: "yolo"
+  track_camera: "wrist"
+  wrist_handoff_conf: 0.5
+  overhead_min_depth_m: 0.25
+  overhead_max_depth_m: 1.80
+  overhead_oneshot_conf: 0.5
+  overhead_cooldown_s: 1.5
+
+gripper:
+  port: "/dev/ttyUSB0"
+  baud: 115200
+  slave_id: 1
+  stroke_mm: 20.0
+  force_pct: 20
+  speed_pct: 50
+  auto_init: false
+
+tactile:
+  model: "dd03"
+  left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0"
+  right_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.2:1.0-video-index0"
+  baseline_seconds: 2.0
+  filter_alpha: 0.25
+  target_fps: 30.0
+  publish_hz: 20.0