orisys/ros_contorl
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悬停走完后常数前馈会往 +X 过补约 1.3mm、插不进，贴面改成笛卡尔锁 XY、只降 Z 的厂家 MoveL；D435 交回也不再杀栈，只等法兰停稳 0.5 秒。

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-10-15 10:23:52 +08:00
parent 37b85aa09b
commit 5c7966d8cd
16 changed files with 1024 additions and 117 deletions
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scripts/run_all.sh
+11 -2
View File
@@ -23,6 +23,7 @@
# bash ~/ros2/scripts/run_all.sh --arm 89 --no-descent # 对准后只降到观测高度（默认离面 15mm）
# bash ~/ros2/scripts/run_all.sh --arm 89 --init-z 0.35 # 启动后先到这个法兰高度 [m]
# bash ~/ros2/scripts/run_all.sh --arm 89 --hover-z 0.34 # 对孔悬停法兰高度 [m]，不安全会拒绝
# bash ~/ros2/scripts/run_all.sh --arm 89 --final-gap 8 # 下臂锁 XY，规尖停在离面 8mm（site 默认 2）
# bash ~/ros2/scripts/run_all.sh --arm 89 --d435-only # 拍一张 K0，厂家 MoveL 把工具尖 XY 对准它（先停 run_real.sh）
#
# 前置（另开一个终端，先跑起来）：
@@ -49,6 +50,7 @@ NO_DESCENT=false
D435_ONLY=false
INIT_Z=""
HOVER_Z=""
FINAL_GAP=""
# --sn/--arm 必须先解析：load_site_config.sh 靠 ROBOT_SN 决定加载哪套机器人配置
# shellcheck disable=SC1091
@@ -71,15 +73,21 @@ while [[ $# -gt 0 ]]; do
--d435-only) D435_ONLY=true; SKIP_STAGE2=true; SKIP_STAGE3=true; shift ;;
--init-z) INIT_Z="${2:?--init-z 需要法兰高度，单位米}"; shift 2 ;;
--hover-z) HOVER_Z="${2:?--hover-z 需要法兰高度，单位米}"; shift 2 ;;
--final-gap) FINAL_GAP="${2:?--final-gap 需要规尖离面间隙，单位毫米}"; shift 2 ;;
--no-preview) PIPELINE_PREVIEW=false; shift ;;
--camera-preview) CAMERA_PREVIEW=true; shift ;;
--no-camera) WITH_CAMERA=false; shift ;;
--no-tactile) WITH_TACTILE=false; shift ;;
-h|--help) sed -n '2,31p' "$0"; exit 0 ;;
-h|--help) sed -n '2,32p' "$0"; exit 0 ;;
*) echo "Unknown: $1" >&2; exit 1 ;;
esac
done
if [[ -n "${FINAL_GAP}" && "${NO_DESCENT}" == true ]]; then
echo "ERROR: 同时写了 --final-gap 和 --no-descent，不知道听谁的。" >&2
exit 1
fi
# shellcheck disable=SC1091
source "${ROOT}/scripts/env.sh"
# shellcheck disable=SC1091
@@ -311,9 +319,10 @@ ARGS=(
)
[[ -n "${INIT_Z}" ]] && ARGS+=("init_z_m:=${INIT_Z}")
[[ -n "${HOVER_Z}" ]] && ARGS+=("hover_z_m:=${HOVER_Z}")
[[ -n "${FINAL_GAP}" ]] && ARGS+=("final_gap_mm:=${FINAL_GAP}")
[[ -n "${HOLE}" ]] && ARGS+=("target_hole:=${HOLE}")
[[ -n "${DEPTH}" ]] && ARGS+=("insert_depth_mm:=${DEPTH}")
[[ -n "${PITCH}" ]] && ARGS+=("screw_pitch_mm:=${PITCH}")
echo "=== launch pipeline hole=${HOLE:-site} depth=${DEPTH:-site} pitch=${PITCH:-site} init_z=${INIT_Z:-site} hover_z=${HOVER_Z:-site} skip1=${SKIP_STAGE1} skip2=${SKIP_STAGE2} skip3=${SKIP_STAGE3} no_descent=${NO_DESCENT} d435_only=${D435_ONLY} ==="
echo "=== launch pipeline hole=${HOLE:-site} depth=${DEPTH:-site} pitch=${PITCH:-site} init_z=${INIT_Z:-site} hover_z=${HOVER_Z:-site} final_gap=${FINAL_GAP:-site} skip1=${SKIP_STAGE1} skip2=${SKIP_STAGE2} skip3=${SKIP_STAGE3} no_descent=${NO_DESCENT} d435_only=${D435_ONLY} ==="
exec ros2 launch arm_application pipeline.launch.py "${ARGS[@]}"
scripts/run_stage2_locate.sh
+6 -2
View File
@@ -12,6 +12,7 @@
# bash ~/ros2/scripts/run_stage2_locate.sh --arm 89 --hole k2 # 对准 k2
# bash ~/ros2/scripts/run_stage2_locate.sh --arm 89 --hover-only # 只垂直+悬停锁定（调高度）
# bash ~/ros2/scripts/run_stage2_locate.sh --arm 89 --hover-z 0.28 # 临时改悬停高（不改 yaml）
# bash ~/ros2/scripts/run_stage2_locate.sh --arm 89 --final-gap 8 # 下臂锁 XY，规尖离面 8mm
# bash ~/ros2/scripts/run_stage2_locate.sh --arm 89 --no-tactile # 不起触觉服务
#
# 悬停锁高固定接口：config/site.yaml → robots[89].servo.hole_hover_z_m
@@ -21,6 +22,7 @@ ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
HOVER_ONLY=false
HOLE=""
HOVER_Z=""
FINAL_GAP=""
WITH_TACTILE=true
# shellcheck disable=SC1091
@@ -33,8 +35,9 @@ while [[ $# -gt 0 ]]; do
--hover-only) HOVER_ONLY=true; shift ;;
--hole) HOLE="${2:?}"; shift 2 ;;
--hover-z) HOVER_Z="${2:?}"; shift 2 ;;
--final-gap) FINAL_GAP="${2:?--final-gap 需要规尖离面间隙，单位毫米}"; shift 2 ;;
--no-tactile) WITH_TACTILE=false; shift ;;
-h|--help) sed -n '2,22p' "$0"; exit 0 ;;
-h|--help) sed -n '2,18p' "$0"; exit 0 ;;
*) echo "Unknown: $1" >&2; exit 1 ;;
esac
done
@@ -137,5 +140,6 @@ echo "=== 确认：左臂夹爪已夹持通止规，通止规轴线与法兰轴
ARGS=(hover_only:="${HOVER_ONLY}")
if [[ -n "${HOLE}" ]]; then ARGS+=(target_hole:="${HOLE}"); fi
if [[ -n "${HOVER_Z}" ]]; then ARGS+=(hover_z_m:="${HOVER_Z}"); fi
echo "=== launch stage2_locate hover_only=${HOVER_ONLY} hole=${HOLE:-site} hover_z=${HOVER_Z:-site} ==="
if [[ -n "${FINAL_GAP}" ]]; then ARGS+=(final_gap_mm:="${FINAL_GAP}"); fi
echo "=== launch stage2_locate hover_only=${HOVER_ONLY} hole=${HOLE:-site} hover_z=${HOVER_Z:-site} final_gap=${FINAL_GAP:-site} ==="
exec ros2 launch arm_application stage2_locate.launch.py "${ARGS[@]}"