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。
2026-09-23 10:53:06 +08:00
commit 6edb8d39ab
635 changed files with 1165230 additions and 0 deletions
@@ -0,0 +1,99 @@
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch_ros.substitutions import FindPackageShare
+
+# Site robot. Official flexiv_description keeps the hyphen in the SN prefix.
+SITE_ROBOT_SN = os.environ.get('SITE_ROBOT_SN', 'Rizon4-063989')
+SITE_JOINT_PREFIX = os.environ.get('SITE_JOINT_PREFIX', f'{SITE_ROBOT_SN}_')
+SITE_NAMED_POSES = os.environ.get('SITE_NAMED_POSES_FILE', '').strip()
+
+
+def generate_launch_description():
+    use_rviz = LaunchConfiguration('use_rviz')
+    robot_sn = LaunchConfiguration('robot_sn')
+    rizon_type = LaunchConfiguration('rizon_type')
+    load_gripper = LaunchConfiguration('load_gripper')
+
+    urdf_path = PathJoinSubstitution(
+        [FindPackageShare('arm_description'), 'urdf', 'arm.urdf.xacro']
+    )
+    named_poses = SITE_NAMED_POSES if SITE_NAMED_POSES and os.path.isfile(SITE_NAMED_POSES) else None
+    if not named_poses:
+        named_poses = PathJoinSubstitution(
+            [FindPackageShare('arm_control'), 'config', 'named_poses.yaml']
+        )
+    rviz_config = PathJoinSubstitution(
+        [FindPackageShare('flexiv_description'), 'rviz', 'view_rizon.rviz']
+    )
+
+    robot_description = ParameterValue(
+        Command([
+            'xacro ', urdf_path,
+            ' robot_sn:=', robot_sn,
+            ' rizon_type:=', rizon_type,
+            ' load_gripper:=', load_gripper,
+            ' use_fake_hardware:=true',
+            ' ros2_control:=false',
+        ]),
+        value_type=str,
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument(
+            'robot_sn',
+            default_value=SITE_ROBOT_SN,
+            description='Site SN; joints become {SN}_joint1..joint7 (hyphen kept)',
+        ),
+        DeclareLaunchArgument('rizon_type', default_value='Rizon4'),
+        DeclareLaunchArgument(
+            'load_gripper',
+            default_value='false',
+            description='Site has no gripper yet',
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[{'robot_description': robot_description}],
+            output='screen',
+        ),
+        Node(
+            package='arm_control',
+            executable='mock_arm_driver',
+            name='mock_arm_driver',
+            parameters=[{'joint_prefix': SITE_JOINT_PREFIX}],
+            output='screen',
+        ),
+        Node(
+            package='arm_control',
+            executable='arm_status_node',
+            name='arm_status_node',
+            parameters=[{
+                'ee_frame': f'{SITE_JOINT_PREFIX}tcp',
+                'base_frame': f'{SITE_JOINT_PREFIX}base_link',
+            }],
+            output='screen',
+        ),
+        Node(
+            package='arm_control',
+            executable='named_pose_server',
+            name='named_pose_server',
+            parameters=[named_poses, {'joint_prefix': SITE_JOINT_PREFIX}],
+            output='screen',
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config],
+            condition=IfCondition(use_rviz),
+            output='screen',
+        ),
+    ])