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
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+cmake_minimum_required(VERSION 3.8)
+project(arm_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config launch srdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
@@ -0,0 +1,36 @@
+joint_limits:
+  joint1:
+    has_velocity_limits: true
+    max_velocity: 2.0944
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint2:
+    has_velocity_limits: true
+    max_velocity: 2.0944
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint3:
+    has_velocity_limits: true
+    max_velocity: 2.4435
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint4:
+    has_velocity_limits: true
+    max_velocity: 2.4435
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint5:
+    has_velocity_limits: true
+    max_velocity: 4.8869
+    has_acceleration_limits: true
+    max_acceleration: 8.0
+  joint6:
+    has_velocity_limits: true
+    max_velocity: 4.8869
+    has_acceleration_limits: true
+    max_acceleration: 8.0
+  joint7:
+    has_velocity_limits: true
+    max_velocity: 4.8869
+    has_acceleration_limits: true
+    max_acceleration: 8.0
@@ -0,0 +1,4 @@
+rizon_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
@@ -0,0 +1,22 @@
+trajectory_execution:
+  allowed_execution_duration_scaling: 1.2
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - rizon_arm_controller
+  rizon_arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - Rizon4-063989_joint1
+      - Rizon4-063989_joint2
+      - Rizon4-063989_joint3
+      - Rizon4-063989_joint4
+      - Rizon4-063989_joint5
+      - Rizon4-063989_joint6
+      - Rizon4-063989_joint7
@@ -0,0 +1,24 @@
+planning_plugin: ompl_interface/OMPLPlanner
+request_adapters: >-
+  default_planner_request_adapters/AddTimeOptimalParameterization
+  default_planner_request_adapters/ResolveConstraintFrames
+  default_planner_request_adapters/FixWorkspaceBounds
+  default_planner_request_adapters/FixStartStateBounds
+  default_planner_request_adapters/FixStartStateCollision
+  default_planner_request_adapters/FixStartStatePathConstraints
+start_state_max_bounds_error: 0.1
+
+planner_configs:
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0
+
+rizon_arm:
+  planner_configs:
+    - RRTConnect
+    - RRTstar
+  projection_evaluator: joints(joint1,joint2)
+  longest_valid_segment_fraction: 0.005
@@ -0,0 +1,74 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+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
+from ament_index_python.packages import get_package_share_directory
+import os
+import yaml
+
+
+def _load_yaml(path: str):
+    with open(path, 'r', encoding='utf-8') as f:
+        return yaml.safe_load(f)
+
+
+def _launch_setup(context, *args, **kwargs):
+    use_fake = LaunchConfiguration('use_fake_hardware').perform(context)
+
+    desc_share = get_package_share_directory('arm_description')
+    moveit_share = get_package_share_directory('arm_moveit_config')
+
+    urdf_path = os.path.join(desc_share, 'urdf', 'arm.urdf.xacro')
+    srdf_path = os.path.join(moveit_share, 'srdf', 'arm.srdf')
+
+    robot_description = ParameterValue(
+        Command(['xacro ', urdf_path, ' use_fake_hardware:=', use_fake]),
+        value_type=str,
+    )
+    with open(srdf_path, 'r', encoding='utf-8') as f:
+        robot_description_semantic = f.read()
+
+    kinematics = _load_yaml(os.path.join(moveit_share, 'config', 'kinematics.yaml'))
+    ompl = _load_yaml(os.path.join(moveit_share, 'config', 'ompl_planning.yaml'))
+    controllers = _load_yaml(os.path.join(moveit_share, 'config', 'moveit_controllers.yaml'))
+    joint_limits = _load_yaml(os.path.join(moveit_share, 'config', 'joint_limits.yaml'))
+
+    move_group_params = {
+        'robot_description': robot_description,
+        'robot_description_semantic': robot_description_semantic,
+        'robot_description_kinematics': kinematics,
+        'robot_description_planning': joint_limits,
+        'ompl': ompl,
+        'planning_pipelines': ['ompl'],
+        'default_planning_pipeline': 'ompl',
+        **controllers,
+    }
+
+    move_group = Node(
+        package='moveit_ros_move_group',
+        executable='move_group',
+        output='screen',
+        parameters=[move_group_params],
+    )
+
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        parameters=[
+            {'robot_description': robot_description},
+            {'robot_description_semantic': robot_description_semantic},
+        ],
+    )
+
+    return [move_group, rviz]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument('use_fake_hardware', default_value='true'),
+        OpaqueFunction(function=_launch_setup),
+    ])
@@ -0,0 +1,24 @@
+<?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_moveit_config</name>
+  <version>0.1.0</version>
+  <description>MoveIt2 configuration template for the 6-DOF arm.</description>
+  <maintainer email="dev@example.com">arm_dev</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>arm_description</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- MoveIt SRDF — site Rizon4-063989, no gripper. Names match flexiv_description. -->
+<robot name="rizon4">
+  <group name="rizon_arm">
+    <chain base_link="Rizon4-063989_base_link" tip_link="Rizon4-063989_tcp"/>
+  </group>
+
+  <group_state name="home" group="rizon_arm">
+    <joint name="Rizon4-063989_joint1" value="0"/>
+    <joint name="Rizon4-063989_joint2" value="-0.698"/>
+    <joint name="Rizon4-063989_joint3" value="0"/>
+    <joint name="Rizon4-063989_joint4" value="1.57"/>
+    <joint name="Rizon4-063989_joint5" value="0"/>
+    <joint name="Rizon4-063989_joint6" value="0.698"/>
+    <joint name="Rizon4-063989_joint7" value="0"/>
+  </group_state>
+
+  <group_state name="ready" group="rizon_arm">
+    <joint name="Rizon4-063989_joint1" value="0"/>
+    <joint name="Rizon4-063989_joint2" value="-0.698"/>
+    <joint name="Rizon4-063989_joint3" value="0"/>
+    <joint name="Rizon4-063989_joint4" value="1.57"/>
+    <joint name="Rizon4-063989_joint5" value="0"/>
+    <joint name="Rizon4-063989_joint6" value="0.698"/>
+    <joint name="Rizon4-063989_joint7" value="0"/>
+  </group_state>
+
+  <end_effector name="hand" parent_link="Rizon4-063989_tcp" group="rizon_arm"/>
+
+  <disable_collisions link1="Rizon4-063989_base_link" link2="Rizon4-063989_link1" reason="Adjacent"/>
+  <disable_collisions link1="Rizon4-063989_link1" link2="Rizon4-063989_link2" reason="Adjacent"/>
+  <disable_collisions link1="Rizon4-063989_link2" link2="Rizon4-063989_link3" reason="Adjacent"/>
+  <disable_collisions link1="Rizon4-063989_link3" link2="Rizon4-063989_link4" reason="Adjacent"/>
+  <disable_collisions link1="Rizon4-063989_link4" link2="Rizon4-063989_link5" reason="Adjacent"/>
+  <disable_collisions link1="Rizon4-063989_link5" link2="Rizon4-063989_link6" reason="Adjacent"/>
+  <disable_collisions link1="Rizon4-063989_link6" link2="Rizon4-063989_link7" reason="Adjacent"/>
+</robot>