Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
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+# 手眼标定交互式路点巡回（预览 + 自由驱动确认）。
+# 位姿来源：同目录的 handeye_poses.yaml
+#
+# 运行：
+#   bash ~/ros2/scripts/run_handeye.sh waypoints
+
+handeye_waypoints:
+  ros__parameters:
+    joint_prefix: "Rizon4-063989_"
+    joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7]
+    velocity_scale: 0.05
+    action_name: "follow_joint_trajectory"
+    dwell_sec: 2.5
+    capture_mode: "preview"       # auto | keypress | preview
+    start_index: 0
+    log_csv: ""
+    capture_topic: "handeye/capture"
+
+    camera_source: "d405"
+    camera_namespace: ""
+    image_topic: ""
+    preview_window: true
+    append_poses_file: "handeye/tmp/taught_poses.txt"
+
+    waypoint_times: [4.0, 4.0, 4.0, 4.0, 4.0, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.0, 4.0]