把现场确认能用的对孔方案落成保存点：小孔只用视觉关键点交到工件面、多走多拍闭环；D435 走到点后杀栈冷启动再停稳 3 秒才交 D405，避免赶路时带臂晃。

Co-authored-by: Cursor <cursoragent@cursor.com>

scripts/run_camera_d435.sh

@@ -46,10 +46,13 @@ if [[ "${PREVIEW}" == "1" ]]; then
   ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}" -p show_preview:=false &
   CAM_PID=$!
   trap 'kill "${CAM_PID}" 2>/dev/null || true' EXIT INT TERM
-  # 工件框是 D405 像素，叠到 1280×720 的顶视图上位置全错，看起来像没检出。
+  # 绿框来自 workpiece/detection_overhead（D435 像素）。不要订 workpiece/detection。
   ros2 run arm_application realsense_view --ros-args \
     -p camera_name:=d435 \
-    -p overlay_detection:=false
+    -p overlay_detection:=true \
+    -p detection_topic:=workpiece/detection_overhead \
+    -p overlay_hold_sec:=1.5 \
+    -p hud_label:="D435 顶视"
 else
   exec ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}"
 fi