把当前控制栈收成一份可克隆的源码：腕部看不见时用顶视一次定到基座，二阶段对孔和手外标定跟着进同一份树。

现场 site.yaml、权重和编译产物仍不入库；模板只留占位符。

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

src/arm_control/arm_control/named_pose_server.py

@@ -14,6 +14,7 @@ from rclpy.node import Node
 
 from arm_msgs.action import FollowJointTrajectory
 from arm_msgs.srv import SetNamedPose
+from std_srvs.srv import Trigger
 
 DEFAULT_JOINTS = [
     'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7',
@@ -64,53 +65,77 @@ class NamedPoseServer(Node):
         self.create_service(
             SetNamedPose, 'set_named_pose', self._on_set, callback_group=self._cb
         )
+        # ``/home``（std_srvs/Trigger）：契约里的"回初始位"入口。
+        #
+        # **为什么这里也要有一个**：真机上 ``/home`` 原本由 ``arm_driver_flexiv``
+        # 提供（它只是个包装，内部还是调 ``/set_named_pose``），但 real 模式的
+        # bringup 起的是 ``flexiv_bringup + named_pose_server + arm_status_node``，
+        # **没有任何 launch 文件会起 arm_driver_flexiv** —— 那个驱动还会自己开
+        # RDK 连接，与 ros2_control 的 flexiv_hardware 抢独占（RDK 是单客户端）。
+        # 于是真机上 ``/home`` 根本不存在，通止规装配的 S00 必检因此永远过不了
+        # （``gauge_boot.py`` 的 ``gauge_home`` 项 target=/home，
+        # ``gauge_assembly_node`` 的 ``_call_trigger("/home")`` 同）。
+        # 放在这里最合适：本节点已经握着 ``/set_named_pose`` 的实现与 JTC 客户端，
+        # 不需要再起一个进程、也不碰 RDK。
+        self.declare_parameter('home_pose', 'home')
+        self.declare_parameter('home_speed', 0.30)
+        self.create_service(
+            Trigger, 'home', self._on_home, callback_group=self._cb
+        )
         self.get_logger().info(
             f'命名位姿 {list(self.poses)} joints={self.joint_names}'
         )
 
-    def _on_set(self, request: SetNamedPose.Request, response: SetNamedPose.Response):
-        name = request.pose_name
+    def _go_to_pose(self, name: str, velocity_scale: float):
+        """把 ``name`` 这个命名位姿走完。返回 ``(成功?, 说明)``。
+
+        两个服务（``/set_named_pose`` 与 ``/home``）共用这一段：分两份写的话，
+        以后只改一处就会出现"手动回位能动、装配回位不能动"这类难查的偏差。
+        """
         if name not in self.poses:
-            response.success = False
-            response.message = f'未知位姿"{name}"。可用: {list(self.poses)}'
-            return response
+            return False, f'未知位姿"{name}"。可用: {list(self.poses)}'
         if not self._client.wait_for_server(timeout_sec=3.0):
-            response.success = False
-            response.message = 'follow_joint_trajectory action 不可用'
-            return response
+            return False, 'follow_joint_trajectory action 不可用'
 
         goal = FollowJointTrajectory.Goal()
         goal.joint_names = self.joint_names
         goal.num_points = 1
         goal.positions = list(self.poses[name])
-        duration = max(0.5, 1.0 / max(float(request.velocity_scale), 0.1))
+        duration = max(0.5, 1.0 / max(float(velocity_scale), 0.1))
         goal.time_from_start = [duration]
-        goal.velocity_scale = float(request.velocity_scale)
+        goal.velocity_scale = float(velocity_scale)
 
         self.get_logger().info(f'-> 位姿 [{name}] T={duration:.2f}s')
         send_fut = self._client.send_goal_async(goal)
         if not _wait_future(send_fut, 5.0):
-            response.success = False
-            response.message = '等待目标被接受超时'
-            return response
+            return False, '等待目标被接受超时'
         handle = send_fut.result()
         if handle is None or not handle.accepted:
-            response.success = False
-            response.message = '目标被拒绝'
-            return response
+            return False, '目标被拒绝'
         res_fut = handle.get_result_async()
         if not _wait_future(res_fut, 60.0):
-            response.success = False
-            response.message = '等待轨迹结果超时'
-            return response
+            return False, '等待轨迹结果超时'
         wrapped = res_fut.result()
         if wrapped is None:
-            response.success = False
-            response.message = '结果为空'
-            return response
+            return False, '结果为空'
         result = wrapped.result
-        response.success = bool(result.success)
-        response.message = result.message or f'已移动到位姿 {name}'
+        return bool(result.success), (result.message or f'已移动到位姿 {name}')
+
+    def _on_set(self, request: SetNamedPose.Request, response: SetNamedPose.Response):
+        response.success, response.message = self._go_to_pose(
+            request.pose_name, float(request.velocity_scale)
+        )
+        return response
+
+    def _on_home(self, _request: Trigger.Request, response: Trigger.Response):
+        """``/home``：回到 ``home_pose`` 指定的命名位姿（默认 ``home``）。"""
+        pose = str(self.get_parameter('home_pose').value)
+        speed = float(self.get_parameter('home_speed').value)
+        ok, message = self._go_to_pose(pose, speed)
+        if not ok:
+            self.get_logger().error(f'回初始位失败（pose={pose}）: {message}')
+        response.success = ok
+        response.message = message
         return response