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>

scripts/fetch_flexiv.sh

@@ -106,11 +106,11 @@ Done. Next steps (Ubuntu 22.04 / Humble + Rizon):
        source install/setup.bash
 
   4) Real robot (site SN, no gripper yet):
-       ros2 launch arm_bringup real.launch.py
+       ros2 launch arm_bringup real.launch.py start_rviz:=false
        # or explicitly:
-       ros2 launch arm_bringup real.launch.py robot_sn:=<site.yaml 里该臂的 robot.sn> load_gripper:=false
+       ros2 launch arm_bringup real.launch.py robot_sn:=<site.yaml 里该臂的 robot.sn> load_gripper:=false start_rviz:=false
 
   Official fake hardware:
-       ros2 launch flexiv_bringup rizon.launch.py robot_sn:=<site.yaml 里该臂的 robot.sn> use_fake_hardware:=true load_gripper:=false
+       ros2 launch flexiv_bringup rizon.launch.py robot_sn:=<site.yaml 里该臂的 robot.sn> use_fake_hardware:=true load_gripper:=false start_rviz:=false
 
 EOF