orisys/ros_contorl
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贴面后不再抬回悬高；MoveL 切回关节后不再把整段位移当前进速度。

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搜孔开局会抬到悬高再落回 hole_hover_z_m，螺纹还没咬合臂就离开孔口。没有接触传感器，到位只认 final_gap 算出的法兰高度，贴面后停在这个 Z。09:25 厂家 MoveL 切回 NRT_JOINT_POSITION 的第一拍把整段关节差算成 1.686 rad/s，前瞻再推 0.07 rad，光心从 5 mm 冲到 276 mm 后急停。切回后钉住结束瞬间的关节角并清零速度，JTC 还指着出发前的关节时不放行。

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-10-19 11:30:49 +08:00
parent 8c4dccccb1
commit 7af9e3d4b6
103 changed files with 5594 additions and 2498 deletions
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install/setup.zsh
+2 -13
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@@ -19,19 +19,8 @@ _colcon_prefix_chain_zsh_source_script() {
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
# 不写死某一台机器的 conda。已激活的环境优先，否则找当前用户的 ros_flexiv。
if [ -n "${CONDA_PREFIX:-}" ] && [ -f "${CONDA_PREFIX}/local_setup.zsh" ]; then
COLCON_CURRENT_PREFIX="${CONDA_PREFIX}"
elif [ -f "${HOME}/anaconda3/envs/ros_flexiv/local_setup.zsh" ]; then
COLCON_CURRENT_PREFIX="${HOME}/anaconda3/envs/ros_flexiv"
elif [ -f "${HOME}/miniconda3/envs/ros_flexiv/local_setup.zsh" ]; then
COLCON_CURRENT_PREFIX="${HOME}/miniconda3/envs/ros_flexiv"
else
COLCON_CURRENT_PREFIX=""
fi
if [ -n "${COLCON_CURRENT_PREFIX}" ]; then
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
fi
COLCON_CURRENT_PREFIX="/home/cc/anaconda3/envs/ros_flexiv"
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script