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/run_real.sh

@@ -19,7 +19,8 @@ while [[ $# -gt 0 ]]; do
     --list|-l) LIST_ONLY=true; shift ;;
     -h|--help)
       sed -n '2,8p' "$0"
-      echo "  Extra args are passed to ros2 launch (e.g. use_rviz:=false)."
+      echo "  机械臂模型在工位程序里看，这里默认不开 RViz。"
+      echo "  其余参数传给 ros2 launch。要临时打开 RViz：use_rviz:=true"
       exit 0
       ;;
     *) break ;;
@@ -127,4 +128,4 @@ if ! "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${RDK_TOOL_ARGS[@]}";
   exit 1
 fi
 
-exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" "$@"
+exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" use_rviz:=false "$@"