换台电脑克隆后启动失败，是因为 site 和启动脚本写死了 /home/cc/ros2。仓库内路径改成相对仓库根，加载时再展开；缺 install 时先说明要编译，而不是 source 一个不存在的文件。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
+20
-20
@@ -45,11 +45,11 @@ robot:
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# （status 里的 init=need_init 只说明"绝对位置标定没做"，不影响夹持）
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# 想让开机必初始化（无人值守的上电流程）就显式改 true，并确认爪里是空的。
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auto_init: false
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named_poses_file: "/home/cc/ros2/src/arm_control/config/named_poses_89.yaml"
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named_poses_file: "src/arm_control/config/named_poses_89.yaml"
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paths:
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handeye_file: "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml"
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handeye_waypoints: "/home/cc/ros2/handeye/poses/89_eye_in_hand.yaml"
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handeye_workdir: "/home/cc/ros2/handeye/tmp/89"
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handeye_file: "handeye/results/89_eye_in_hand.yaml"
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handeye_waypoints: "handeye/poses/89_eye_in_hand.yaml"
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handeye_workdir: "handeye/tmp/89"
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handeye:
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# Studio tcp_location（法兰系，米 + qwxyz）。与 rdk Tool.params 必须一致。
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# 眼在手上：AX=XB 的手是这份 TCP，再折成 cam→法兰写 T_4x4。
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@@ -195,7 +195,7 @@ robot:
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# 为什么必须给文件而不能留空：visual_servo 的 servo_node 需要
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# T_flange_cam 矩阵做像素→笛卡尔换算；留空它就直接拒绝启动
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#（"手眼标定结果缺失"），S04 跟踪起不来。
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handeye_file: "/home/cc/ros2/handeye/results/sim_eye_in_hand.yaml"
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handeye_file: "handeye/results/sim_eye_in_hand.yaml"
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# 运动参数：**大部分**与 89 共用（锚点），但**高度类**必须按仿真台的几何改写。
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#
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# 为什么不能直接共用：真机是"机械臂装在台面同一高度"，所以"法兰相对基座"
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@@ -289,11 +289,11 @@ robot:
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port: "/dev/ttyUSB1"
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stroke_mm: 30.0
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auto_init: false
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named_poses_file: "/home/cc/ros2/src/arm_control/config/named_poses_91.yaml"
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named_poses_file: "src/arm_control/config/named_poses_91.yaml"
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paths:
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handeye_file: "/home/cc/ros2/handeye/results/91_eye_in_hand.yaml"
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handeye_waypoints: "/home/cc/ros2/handeye/poses/91_eye_in_hand.yaml"
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handeye_workdir: "/home/cc/ros2/handeye/tmp/91"
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handeye_file: "handeye/results/91_eye_in_hand.yaml"
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handeye_waypoints: "handeye/poses/91_eye_in_hand.yaml"
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handeye_workdir: "handeye/tmp/91"
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# >>> 右臂跟踪高度：只改这里，89 仍用上面那段 <<<
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# 法兰 Z；RGI 比平行爪高，通常要比 89 略抬一点。改完重启：
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# bash ~/ros2/scripts/run_visual_servo_rt.sh --arm 91 --control
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@@ -314,7 +314,7 @@ robot:
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paths:
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# >>> YOLO 权重（标准放法，不必改代码）<<<
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# 1) 把 .onnx / .pt 放到 /home/cc/ros2/models/yolo/
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# 1) 把 .onnx / .pt 放到 models/yolo/
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# 2) 这一行改成那个绝对路径（写 .onnx 即可；TensorRT 会找同名 .engine）
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# 3) backend=tensorrt 时必须先导出引擎（只需做一次）：
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# bash ~/ros2/scripts/weights.sh convert <源文件> --name <名字> --group yolo
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@@ -328,18 +328,18 @@ paths:
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# ultralytics 解不了 pose 的 TensorRT engine，运行时走
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# arm_application/pose_detector.py 的自解码（见该模块头）。
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# 仍然用 .engine（实测 ~2.6 ms/帧；onnx 只有 CPU provider，约 27 ms）。
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yolo_weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
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yolo_weights: "models/yolo/gongjian0929.onnx"
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# 换模型：把 models/yolo/ 下别的 .onnx / .pt 绝对路径填进来即可。
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# 未在用的模型已移出仓库（体积大且干扰 `weights.sh list`），要恢复见 models/README.md。
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# 入孔模型（backend=yolo 时把孔当框）。two_stage 用下面的工件权重。
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# pose 模型两处共用同一份 —— 它既能框工件，又直接给 k1/k2 关键点。
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# 查悬空引用：bash ~/ros2/scripts/weights.sh doctor
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hole_weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
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hole_weights: "models/yolo/gongjian0929.onnx"
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# 下面是缺省（未匹配到 robots[] 时）。真机以 robots[].paths 为准：89 / 91 各一份。
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handeye_file: "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml"
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handeye_waypoints: "/home/cc/ros2/handeye/poses/89_eye_in_hand.yaml"
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handeye_calibrate: "/home/cc/ros2/handeye/calibrate.yaml"
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handeye_workdir: "/home/cc/ros2/handeye/tmp/89"
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handeye_file: "handeye/results/89_eye_in_hand.yaml"
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handeye_waypoints: "handeye/poses/89_eye_in_hand.yaml"
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handeye_calibrate: "handeye/calibrate.yaml"
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handeye_workdir: "handeye/tmp/89"
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# 空=默认 DDS(SHM)；勿强制 UDP-only，否则相机预览收不到 /workpiece/detection
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fastdds_profile: ""
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@@ -663,10 +663,10 @@ gripper:
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hole_detect:
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backend: "two_stage" # two_stage | yolo | hough
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# backend=yolo 时用。
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weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
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weights: "models/yolo/gongjian0929.onnx"
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# 二阶段工件检测权重。pose 模型既框工件、又直接给 k1/k2 关键点，
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# 所以和上面的跟踪权重是同一份。
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workpiece_weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
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workpiece_weights: "models/yolo/gongjian0929.onnx"
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# pose 关键点优先：检测器给了 k1/k2 就直接用，不用再找圆。
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# 关键点不可信（低于 keypoint_min_conf / 两点几乎重合）时自动回落到
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# 亮环 + Hough 那套老路径。
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@@ -674,7 +674,7 @@ hole_detect:
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keypoint_min_conf: 0.30
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keypoint_min_dist_px: 15.0
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keypoint_hole_radius_px: 12.0 # 关键点没有半径；反投影时按这个半径取孔周深度环
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config: "/home/cc/ros2/src/arm_application/config/hole_detect.yaml"
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config: "src/arm_application/config/hole_detect.yaml"
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conf: 0.25
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iou: 0.7
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imgsz: 640
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@@ -1085,7 +1085,7 @@ tactile:
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# 传感器型号。必须与 devices/sensors/orisys/models/ 下的子目录名一致。
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model: "dd03"
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# 型号配置随 SDK 一起放：devices/sensors/orisys/models/<型号>/config.json
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config_file: "/home/cc/ros2/devices/sensors/orisys/models/dd03/config.json"
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config_file: "devices/sensors/orisys/models/dd03/config.json"
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# 用 by-path 稳定路径（插哪个 USB 口就认哪个口，不受 video 编号漂移影响）。
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# 当前：3.4.1=左指 3.4.2=右指；若左右反了，互换两行即可。
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left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0"
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