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chore: 框架科学优化前的完整基线

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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。
This commit is contained in:
arm_dev
2026-09-23 10:53:06 +08:00
commit 6edb8d39ab
635 changed files with 1165230 additions and 0 deletions
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src/arm_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(arm_description)
find_package(ament_cmake REQUIRED)
install(DIRECTORY urdf meshes rviz launch config
DESTINATION share/${PROJECT_NAME}
)
ament_package()
src/arm_description/config/joint_names.yaml
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# Flexiv Rizon 4 — site robot Rizon4-063989
robot_model: Rizon4
robot_sn: Rizon4-063989
dof: 7
load_gripper: false
# Official flexiv_description: SN hyphen is kept in the prefix
joint_prefix: "Rizon4-063989_"
joint_names:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
- joint7
base_frame: base_link
ee_frame: tcp
flange_frame: flange
src/arm_description/launch/display.launch.py
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
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
def generate_launch_description():
use_gui = LaunchConfiguration('use_gui')
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']
)
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,
]),
value_type=str,
)
return LaunchDescription([
DeclareLaunchArgument('use_gui', default_value='true'),
DeclareLaunchArgument('use_rviz', default_value='true'),
DeclareLaunchArgument('robot_sn', default_value='Rizon4-063989'),
DeclareLaunchArgument('rizon_type', default_value='Rizon4'),
DeclareLaunchArgument('load_gripper', default_value='false'),
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[{'robot_description': robot_description}],
output='screen',
),
Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher_gui',
condition=IfCondition(use_gui),
output='screen',
),
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
condition=UnlessCondition(use_gui),
output='screen',
),
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config],
condition=IfCondition(use_rviz),
output='screen',
),
])
src/arm_description/meshes/.gitkeep
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# Placeholder: put STL/DAE meshes here and reference them from URDF, e.g.:
# package://arm_description/meshes/link1.stl
src/arm_description/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>arm_description</name>
<version>0.1.0</version>
<description>URDF/Xacro wrapper for Flexiv Rizon 4 via flexiv_description.</description>
<maintainer email="dev@example.com">arm_dev</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>flexiv_description</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rviz2</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
src/arm_description/rviz/arm.rviz
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Panels:
Displays:
class: rviz_common/Displays
name: Displays
displays:
- class: rviz_default_plugins/Grid
name: Grid
enabled: true
Cell Size: 0.25
Reference Frame: <Fixed Frame>
- class: rviz_default_plugins/RobotModel
name: RobotModel
enabled: true
Description Source: Topic
Description Topic:
Value: /robot_description
Visual Enabled: true
Collision Enabled: false
Alpha: 1
- class: rviz_default_plugins/TF
name: TF
enabled: true
Show Names: true
Show Axes: true
Frame Timeout: 15
Marker Scale: 0.15
Views:
class: rviz_common/Views
name: Views
Current:
class: rviz_default_plugins/Orbit
name: Current View
Distance: 2.2
Focal Point:
X: 0.25
Y: 0.0
Z: 0.35
Pitch: 0.45
Yaw: 0.85
Visualization Manager:
class: ""
displays: ~
tools:
- class: rviz_default_plugins/Interact
- class: rviz_default_plugins/MoveCamera
- class: rviz_default_plugins/Select
- class: rviz_default_plugins/FocusCamera
views:
current:
class: rviz_default_plugins/Orbit
Global Options:
Background Color: 48; 48; 48
# Official flexiv_description Fixed Frame (or Rizon4-063989_base_link)
Fixed Frame: world
Frame Rate: 30
Window Geometry:
Height: 800
Width: 1200
src/arm_description/urdf/arm.gazebo.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="arm_gazebo" params="prefix">
<gazebo reference="${prefix}base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="${prefix}link1">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="${prefix}link2">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="${prefix}link3">
<material>Gazebo/Green</material>
</gazebo>
<gazebo reference="${prefix}link4">
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo reference="${prefix}link5">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="${prefix}link6">
<material>Gazebo/Purple</material>
</gazebo>
<gazebo reference="${prefix}link7">
<material>Gazebo/Grey</material>
</gazebo>
</xacro:macro>
</robot>
src/arm_description/urdf/arm.macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--
Lightweight 7-DOF kinematic stand-in for Flexiv Rizon 4.
For accurate meshes/kinematics, install official flexiv_description
and launch via arm_bringup (uses flexiv_description / flexiv_bringup).
Joint names follow Flexiv convention: {prefix}joint1 .. {prefix}joint7
where prefix is typically robot_sn with '-' replaced by '_', e.g. Rizon4_123456_
-->
<xacro:macro name="arm_inertial_box" params="mass x y z">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${(1/12)*mass*(y*y+z*z)}" ixy="0.0" ixz="0.0"
iyy="${(1/12)*mass*(x*x+z*z)}" iyz="0.0"
izz="${(1/12)*mass*(x*x+y*y)}"/>
</inertial>
</xacro:macro>
<xacro:macro name="arm_visual_cylinder" params="length radius rgba">
<visual>
<origin xyz="0 0 ${length/2}" rpy="0 0 0"/>
<geometry>
<cylinder length="${length}" radius="${radius}"/>
</geometry>
<material name="">
<color rgba="${rgba}"/>
</material>
</visual>
</xacro:macro>
<xacro:macro name="arm_collision_cylinder" params="length radius">
<collision>
<origin xyz="0 0 ${length/2}" rpy="0 0 0"/>
<geometry>
<cylinder length="${length}" radius="${radius}"/>
</geometry>
</collision>
</xacro:macro>
<!-- Approximate link lengths (m); replace with official URDF for production -->
<xacro:property name="L1" value="0.15"/>
<xacro:property name="L2" value="0.36"/>
<xacro:property name="L3" value="0.12"/>
<xacro:property name="L4" value="0.31"/>
<xacro:property name="L5" value="0.10"/>
<xacro:property name="L6" value="0.08"/>
<xacro:property name="L7" value="0.07"/>
<xacro:macro name="arm_robot" params="prefix">
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0.06" rpy="0 0 0"/>
<geometry><cylinder length="0.12" radius="0.09"/></geometry>
<material name=""><color rgba="0.15 0.15 0.18 1"/></material>
</visual>
<collision>
<origin xyz="0 0 0.06" rpy="0 0 0"/>
<geometry><cylinder length="0.12" radius="0.09"/></geometry>
</collision>
<xacro:arm_inertial_box mass="3.0" x="0.18" y="0.18" z="0.12"/>
</link>
<!-- joint1: base yaw (±165°) -->
<joint name="${prefix}joint1" type="revolute">
<parent link="${prefix}base_link"/>
<child link="${prefix}link1"/>
<origin xyz="0 0 0.12" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-2.8798" upper="2.8798" effort="123" velocity="2.0944"/>
<dynamics damping="0.1" friction="0.05"/>
</joint>
<link name="${prefix}link1">
<xacro:arm_visual_cylinder length="${L1}" radius="0.05" rgba="0.85 0.25 0.2 1"/>
<xacro:arm_collision_cylinder length="${L1}" radius="0.05"/>
<xacro:arm_inertial_box mass="2.0" x="0.1" y="0.1" z="${L1}"/>
</link>
<!-- joint2 -->
<joint name="${prefix}joint2" type="revolute">
<parent link="${prefix}link1"/>
<child link="${prefix}link2"/>
<origin xyz="0 0 ${L1}" rpy="0 ${pi/2} 0"/>
<axis xyz="0 0 1"/>
<limit lower="-2.3562" upper="2.3562" effort="123" velocity="2.0944"/>
<dynamics damping="0.1" friction="0.05"/>
</joint>
<link name="${prefix}link2">
<xacro:arm_visual_cylinder length="${L2}" radius="0.045" rgba="0.2 0.55 0.85 1"/>
<xacro:arm_collision_cylinder length="${L2}" radius="0.045"/>
<xacro:arm_inertial_box mass="2.5" x="0.09" y="0.09" z="${L2}"/>
</link>
<!-- joint3 -->
<joint name="${prefix}joint3" type="revolute">
<parent link="${prefix}link2"/>
<child link="${prefix}link3"/>
<origin xyz="0 0 ${L2}" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-3.0543" upper="3.0543" effort="64" velocity="2.4435"/>
<dynamics damping="0.08" friction="0.04"/>
</joint>
<link name="${prefix}link3">
<xacro:arm_visual_cylinder length="${L3}" radius="0.04" rgba="0.2 0.75 0.45 1"/>
<xacro:arm_collision_cylinder length="${L3}" radius="0.04"/>
<xacro:arm_inertial_box mass="1.2" x="0.08" y="0.08" z="${L3}"/>
</link>
<!-- joint4 -->
<joint name="${prefix}joint4" type="revolute">
<parent link="${prefix}link3"/>
<child link="${prefix}link4"/>
<origin xyz="0 0 ${L3}" rpy="0 ${pi/2} 0"/>
<axis xyz="0 0 1"/>
<limit lower="-1.9548" upper="2.7751" effort="64" velocity="2.4435"/>
<dynamics damping="0.08" friction="0.04"/>
</joint>
<link name="${prefix}link4">
<xacro:arm_visual_cylinder length="${L4}" radius="0.038" rgba="0.9 0.7 0.2 1"/>
<xacro:arm_collision_cylinder length="${L4}" radius="0.038"/>
<xacro:arm_inertial_box mass="1.8" x="0.076" y="0.076" z="${L4}"/>
</link>
<!-- joint5 -->
<joint name="${prefix}joint5" type="revolute">
<parent link="${prefix}link4"/>
<child link="${prefix}link5"/>
<origin xyz="0 0 ${L4}" rpy="0 ${-pi/2} 0"/>
<axis xyz="0 0 1"/>
<limit lower="-3.0543" upper="3.0543" effort="39" velocity="4.8869"/>
<dynamics damping="0.05" friction="0.02"/>
</joint>
<link name="${prefix}link5">
<xacro:arm_visual_cylinder length="${L5}" radius="0.032" rgba="0.6 0.35 0.85 1"/>
<xacro:arm_collision_cylinder length="${L5}" radius="0.032"/>
<xacro:arm_inertial_box mass="0.8" x="0.064" y="0.064" z="${L5}"/>
</link>
<!-- joint6 -->
<joint name="${prefix}joint6" type="revolute">
<parent link="${prefix}link5"/>
<child link="${prefix}link6"/>
<origin xyz="0 0 ${L5}" rpy="0 ${pi/2} 0"/>
<axis xyz="0 0 1"/>
<limit lower="-1.4835" upper="4.6251" effort="39" velocity="4.8869"/>
<dynamics damping="0.05" friction="0.02"/>
</joint>
<link name="${prefix}link6">
<xacro:arm_visual_cylinder length="${L6}" radius="0.03" rgba="0.35 0.75 0.75 1"/>
<xacro:arm_collision_cylinder length="${L6}" radius="0.03"/>
<xacro:arm_inertial_box mass="0.5" x="0.06" y="0.06" z="${L6}"/>
</link>
<!-- joint7: flange yaw -->
<joint name="${prefix}joint7" type="revolute">
<parent link="${prefix}link6"/>
<child link="${prefix}link7"/>
<origin xyz="0 0 ${L6}" rpy="0 ${-pi/2} 0"/>
<axis xyz="0 0 1"/>
<limit lower="-3.0543" upper="3.0543" effort="39" velocity="4.8869"/>
<dynamics damping="0.03" friction="0.01"/>
</joint>
<link name="${prefix}link7">
<visual>
<origin xyz="0 0 ${L7/2}" rpy="0 0 0"/>
<geometry><cylinder length="${L7}" radius="0.035"/></geometry>
<material name=""><color rgba="0.25 0.25 0.28 1"/></material>
</visual>
<collision>
<origin xyz="0 0 ${L7/2}" rpy="0 0 0"/>
<geometry><cylinder length="${L7}" radius="0.035"/></geometry>
</collision>
<xacro:arm_inertial_box mass="0.3" x="0.07" y="0.07" z="${L7}"/>
</link>
<!-- TCP / flange (Flexiv uses flange + tcp frames) -->
<joint name="${prefix}flange_joint" type="fixed">
<parent link="${prefix}link7"/>
<child link="${prefix}flange"/>
<origin xyz="0 0 ${L7}" rpy="0 0 0"/>
</joint>
<link name="${prefix}flange"/>
<joint name="${prefix}tcp_joint" type="fixed">
<parent link="${prefix}flange"/>
<child link="${prefix}tcp"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="${prefix}tcp"/>
<!-- Alias used by our application layer -->
<joint name="${prefix}tool0_joint" type="fixed">
<parent link="${prefix}tcp"/>
<child link="${prefix}tool0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="${prefix}tool0"/>
</xacro:macro>
</robot>
src/arm_description/urdf/arm.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="arm_ros2_control" params="prefix use_fake_hardware:=true">
<ros2_control name="Rizon4System" type="system">
<hardware>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<!-- Official Flexiv hardware plugin (requires flexiv_hardware) -->
<plugin>flexiv_hardware/FlexivHardwareInterface</plugin>
</xacro:unless>
</hardware>
<joint name="${prefix}joint1">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${prefix}joint2">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${prefix}joint3">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${prefix}joint4">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${prefix}joint5">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${prefix}joint6">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${prefix}joint7">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>
src/arm_description/urdf/arm.urdf.xacro
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<?xml version="1.0" encoding="utf-8"?>
<!-- Project wrapper: official flexiv_description + tcp/tool0. -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="$(arg rizon_type)">
<!-- rizon_type: Rizon4, Rizon4s, Rizon4M, Rizon4R, Rizon10, Rizon10s -->
<xacro:arg name="rizon_type" default="Rizon4"/>
<xacro:include filename="$(find flexiv_description)/urdf/common/rizon_robot.xacro"/>
<xacro:arg name="arm_prefix" default=""/>
<xacro:arg name="robot_sn" default="Rizon4-063989"/>
<xacro:arg name="joint_limits_parameters_file"
default="$(find flexiv_description)/config/$(arg rizon_type)/joint_limits.yaml"/>
<xacro:arg name="kinematics_parameters_file"
default="$(find flexiv_description)/config/$(arg rizon_type)/default_kinematics.yaml"/>
<xacro:arg name="inertia_parameters_file"
default="$(find flexiv_description)/config/$(arg rizon_type)/inertia_parameters.yaml"/>
<xacro:arg name="visual_parameters_file"
default="$(find flexiv_description)/config/$(arg rizon_type)/visual_parameters.yaml"/>
<xacro:arg name="load_gripper" default="false"/>
<xacro:arg name="gripper_name" default="Flexiv-GN01"/>
<xacro:arg name="load_mounted_ft_sensor" default="false"/>
<xacro:arg name="ros2_control" default="false"/>
<xacro:arg name="rdk_control_mode" default="joint_position"/>
<xacro:arg name="use_fake_hardware" default="true"/>
<xacro:arg name="fake_sensor_commands" default="false"/>
<xacro:arg name="initial_positions_file"
default="$(find flexiv_description)/config/initial_positions.yaml"/>
<xacro:arg name="mounting_file"
default="$(find flexiv_description)/config/single_robot_mounting.yaml"/>
<xacro:property name="mounting" value="${xacro.load_yaml('$(arg mounting_file)')}"/>
<xacro:property name="sn" value="$(arg robot_sn)"/>
<xacro:property name="ap" value="$(arg arm_prefix)"/>
<xacro:property name="prefix"
value="${(ap + '_' + sn + '_') if ap != '' and sn != '' else (ap + sn + '_') if (ap + sn) != '' else ''}"/>
<xacro:rizon_robot
rizon_type="$(arg rizon_type)"
robot_sn="$(arg robot_sn)"
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
kinematics_parameters_file="$(arg kinematics_parameters_file)"
inertia_parameters_file="$(arg inertia_parameters_file)"
visual_parameters_file="$(arg visual_parameters_file)"
arm_prefix="$(arg arm_prefix)"
load_gripper="$(arg load_gripper)"
gripper_name="$(arg gripper_name)"
load_mounted_ft_sensor="$(arg load_mounted_ft_sensor)"
ros2_control="$(arg ros2_control)"
rdk_control_mode="$(arg rdk_control_mode)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
initial_positions_file="$(arg initial_positions_file)"
base_rpy="${radians(mounting['orientation']['rx'])} ${radians(mounting['orientation']['ry'])} ${radians(mounting['orientation']['rz'])}"/>
<joint name="${prefix}tcp_joint" type="fixed">
<parent link="${prefix}flange"/>
<child link="${prefix}tcp"/>
</joint>
<link name="${prefix}tcp"/>
<joint name="${prefix}tool0_joint" type="fixed">
<parent link="${prefix}tcp"/>
<child link="${prefix}tool0"/>
</joint>
<link name="${prefix}tool0"/>
</robot>