主界面一屏要同时看臂、夹爪、相机和触觉，按钮再被拉高就会叠到画面上。相机按原分辨率走回调取最新帧，场景一动不再等红外齐帧把彩色丢掉。模型和相机都留在工位窗口里，启动默认不再弹 RViz。

验收：test_listed_arms 与 test_camera_preview 共 20 项通过。D435 1280×720 发布约 29 帧/秒。

Co-authored-by: Cursor <cursoragent@cursor.com>

install/arm_bringup/share/arm_bringup/config/bringup.yaml

@@ -4,7 +4,7 @@ rizon_type: Rizon4
 # Flexiv Studio 夹爪（GN01）—— 保持 false。DH PGEA 使用 run_gripper.sh。
 load_gripper: false
 use_fake_hardware: false
-start_rviz: true
+start_rviz: false
 
 # Flexiv 官方关节命名：Rizon4-063989_joint1 ... joint7
 joint_prefix: Rizon4-063989_

install/arm_bringup/share/arm_bringup/launch/real.launch.py

@@ -74,6 +74,6 @@ def generate_launch_description():
         DeclareLaunchArgument('use_fake_hardware', default_value='false'),
         # 仅适用于 Flexiv-GN01。DH PGEA 用: bash ~/ros2/scripts/run_gripper.sh
         DeclareLaunchArgument('load_gripper', default_value='false'),
-        DeclareLaunchArgument('start_rviz', default_value='true'),
+        DeclareLaunchArgument('start_rviz', default_value='false'),
         OpaqueFunction(function=_launch_setup),
     ])

install/arm_bringup/share/arm_bringup/launch/sim.launch.py

@@ -35,7 +35,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('use_rviz', default_value='false'),
         DeclareLaunchArgument('use_moveit', default_value='false'),
         # 仿真**故意**不用真机的 SN 前缀：两边同时跑时，同名关节会让 TF 与
         # 控制器互相打架（症状是 RViz 里模型乱跳）。见 devices/sim/gazebo/README.md。

install/arm_bringup/share/arm_bringup/launch/stack.launch.py

@@ -201,7 +201,7 @@ def generate_launch_description():
             default_value='mock',
             description='mock | moveit | real | isaac',
         ),
-        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('use_rviz', default_value='false'),
         DeclareLaunchArgument('robot_sn', default_value=SITE_SN),
         DeclareLaunchArgument('load_gripper', default_value='false'),
         OpaqueFunction(function=_setup),

install/arm_control/share/arm_control/launch/mock_control.launch.py

@@ -47,7 +47,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('use_rviz', default_value='false'),
         DeclareLaunchArgument(
             'robot_sn',
             default_value=SITE_ROBOT_SN,

install/arm_description/share/arm_description/launch/display.launch.py

@@ -34,7 +34,7 @@ def generate_launch_description():
 
     return LaunchDescription([
         DeclareLaunchArgument('use_gui', default_value='true'),
-        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('use_rviz', default_value='false'),
         # 默认取当前臂（scripts/env.sh 已导出）；不再写死某个 SN。
         DeclareLaunchArgument(
             'robot_sn',

install/arm_moveit_config/share/arm_moveit_config/launch/move_group.launch.py

@@ -69,12 +69,21 @@ def _launch_setup(context, *args, **kwargs):
         ],
     )
 
-    return [move_group, rviz]
+    # 模型在工位程序里看。只有显式 start_rviz:=true 才再开 RViz。
+    nodes = [move_group]
+    if LaunchConfiguration('start_rviz').perform(context).strip().lower() in ('1', 'true', 'yes'):
+        nodes.append(rviz)
+    return nodes
 
 
 def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument('use_fake_hardware', default_value='true'),
+        DeclareLaunchArgument(
+            'start_rviz',
+            default_value='false',
+            description='机械臂模型在工位程序里看，默认不再弹出 RViz',
+        ),
         # 从环境取当前臂 SN，避免靠 xacro 里的写死默认值"蒙对"。
         DeclareLaunchArgument(
             'robot_sn',