chore: 框架科学优化前的完整基线

在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态，
使后续任何删除/重构都可回退。

本基线包含：
- 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等）
- 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接）
- 设备契约层 src/arm_interfaces（新增，46 项单测通过）
- devices/ 设备选型与品牌清单（新增）
- scripts/gen_site_example.py 与由它生成的 config/site.example.yaml

按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。

src/arm_application/setup.py

@@ -0,0 +1,69 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = 'arm_application'
+
+
+def _data_files():
+    entries = [
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+        (os.path.join('share', package_name, 'trajectories'), glob('trajectories/*')),
+    ]
+    for root, _dirs, files in os.walk('config'):
+        if not files:
+            continue
+        dest = os.path.join('share', package_name, root)
+        srcs = [os.path.join(root, name) for name in files]
+        entries.append((dest, srcs))
+    return entries
+
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=_data_files(),
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='arm_dev',
+    maintainer_email='dev@example.com',
+    description='High-level arm application nodes.',
+    license='Apache-2.0',
+    entry_points={
+        'console_scripts': [
+            # Bringup helpers
+            'demo_named_poses = arm_application.demo_named_poses:main',
+            'move_to_pose_client = arm_application.move_to_pose_client:main',
+            'run_joint_trajectory = arm_application.run_joint_trajectory:main',
+            'goto_ee_plane = arm_application.goto_ee_plane:main',
+            # Camera
+            'realsense_color_pub = arm_application.realsense_color_pub:main',
+            'realsense_view = arm_application.realsense_view:main',
+            # Hand-eye
+            'handeye_teach = arm_application.handeye_teach:main',
+            'handeye_waypoints = arm_application.handeye_waypoints:main',
+            'handeye_calibrate = arm_application.handeye_calibrate:main',
+            # Visual servo (current stack)
+            'perception_node = arm_application.perception_node:main',
+            'servo_node = arm_application.servo_node:main',
+            # Gripper
+            'dh_pgea = arm_application.dh_pgea_node:main',
+            'dh_pgea_cli = arm_application.dh_pgea:main',
+            'dual_gripper = arm_application.dual_gripper_node:main',
+            'dual_gripper_cli = arm_application.dual_gripper_cli:main',
+            # Hole detect (no insert motion)
+            'hole_detect = arm_application.hole_detect_node:main',
+            # Stage-2 one-shot hole localization (k1/k2) + gauge alignment
+            'stage2_locate = arm_application.stage2_locate_node:main',
+            # Stage-3 compliant hole search (Orisys tactile spiral + insert)
+            'stage3_search = arm_application.stage3_search_node:main',
+            # Three-stage assembly pipeline (track → locate → search, one process)
+            'assembly_pipeline = arm_application.pipeline_node:main',
+            'tactile = arm_application.tactile_node:main',
+            'tactile_cli = arm_application.tactile_cli:main',
+        ],
+    },
+)