Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
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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>