克隆后还缺仿真安装树和两边的编译目录。把 build、build_sim、install_sim 一并放进仓库；仿真入口不再写死本机 conda，build 里指向源码的链接改成相对路径。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
@@ -0,0 +1,14 @@
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/ArmStatus.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/JointCommand.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/GripperCommand.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/GripperStatus.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/HoleDetection.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/HoleDetections.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:msg/TactileStatus.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:srv/SetNamedPose.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:srv/GetArmState.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:srv/GripperExecute.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:srv/SwitchTool.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:action/MoveToPose.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:action/FollowJointTrajectory.idl
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/home/cc/ros2/build/arm_msgs/rosidl_adapter/arm_msgs:action/CompliantDescent.idl
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@@ -0,0 +1,116 @@
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// generated from rosidl_adapter/resource/action.idl.em
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// with input from arm_msgs/action/CompliantDescent.action
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// generated code does not contain a copyright notice
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#include "geometry_msgs/msg/PoseStamped.idl"
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module arm_msgs {
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module action {
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@verbatim (language="comment", text=
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"柔顺下臂：从当前悬停位姿沿工具系 −Z 缓慢下压，直到触觉检测到接触。" "\n"
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"" "\n"
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"通止规装配 S07（下臂接触）专用原语。" "\n"
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"" "\n"
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"为什么不用 RDK 的柔顺模式：非夕 RDK 的 compliant motion 会接管整臂阻抗，" "\n"
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"而装配的其它阶段（跟踪 / 对准 / 拧入）都走 JTC 位置控制；在两种控制权之间" "\n"
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"来回切换代价高、掉电风险大。这里用「小幅步进 + 力反馈」在应用层做等效：" "\n"
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"每步 0.2~1.0 mm，步间等稳定，一旦切向力相对基线跳变立即停住。" "\n"
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"对通止规这种「碰到就必须停」的场景足够，而且任何一步都可以安全中断。" "\n"
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"" "\n"
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"力阈值全部是「相对静止基线的增量」：Orisys 读数是形变任意单位且基线会漂移，" "\n"
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"绝对值没有意义。基线由传感器节点的 measure_baseline 服务在启动时测定。")
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struct CompliantDescent_Goal {
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@verbatim (language="comment", text=
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"--- 目标与判据 ---" "\n"
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"目标法兰 X（基座系，m）。NaN = 保持当前 XY 不动")
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double target_x_m;
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@verbatim (language="comment", text=
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"目标法兰 Y（基座系，m）。NaN = 保持当前 XY 不动")
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double target_y_m;
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@verbatim (language="comment", text=
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"监测哪条切向通道：0 = 第一路切向，1 = 第二路切向")
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double contact_axis;
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@verbatim (language="comment", text=
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"接触判据：|切向力| 相对静止基线的增量（传感器原生单位）")
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double contact_delta;
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@verbatim (language="comment", text=
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"法向力安全上限（相对基线增量）。<=0 = 不检查")
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double max_normal_delta;
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@verbatim (language="comment", text=
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"用哪只手指的触觉：left | right（装配时是持规那只）")
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string side;
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@verbatim (language="comment", text=
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"--- 运动参数 ---" "\n"
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"每步下压量（m），建议 0.0002 ~ 0.0010")
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double descent_step_m;
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@verbatim (language="comment", text=
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"名义下压速度（m/s）。步进间隔 = step / speed")
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double descent_speed_mps;
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@verbatim (language="comment", text=
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"最多下压距离（m）。安全上限，到了判失败并停住")
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double max_descent_m;
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@verbatim (language="comment", text=
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"每步后等待稳定（s）。0 = 不等，靠触觉话题新鲜度")
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double settle_sec;
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@verbatim (language="comment", text=
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"总超时（s）。0 = 由 max_descent_m / descent_speed_mps 推算")
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double timeout_sec;
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};
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struct CompliantDescent_Result {
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@verbatim (language="comment", text=
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"true = 检测到接触且已停住")
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boolean success;
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@verbatim (language="comment", text=
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"失败原因：超时 / 触觉断流 / 达到行程上限 / 法向力超限")
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string message;
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@verbatim (language="comment", text=
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"接触瞬间的法兰位姿（基座系）")
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geometry_msgs::msg::PoseStamped contact_pose;
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@verbatim (language="comment", text=
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"实际下压距离（m）")
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double descended_m;
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@verbatim (language="comment", text=
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"触发瞬间的切向增量")
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double contact_delta_observed;
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@verbatim (language="comment", text=
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"触发瞬间的法向增量")
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double normal_delta_observed;
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};
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struct CompliantDescent_Feedback {
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@verbatim (language="comment", text=
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"0.0 ~ 1.0（descended_m / max_descent_m）")
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double progress;
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@verbatim (language="comment", text=
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"当前已下压距离（m）")
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double descended_m;
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@verbatim (language="comment", text=
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"当前切向增量（相对基线）")
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double tangential_delta;
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@verbatim (language="comment", text=
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"当前法向增量（相对基线）")
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double normal_delta;
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@verbatim (language="comment", text=
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"approaching | contacting | retracting | done | error")
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string status;
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};
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};
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};
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@@ -0,0 +1,42 @@
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// generated from rosidl_adapter/resource/action.idl.em
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// with input from arm_msgs/action/FollowJointTrajectory.action
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// generated code does not contain a copyright notice
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module arm_msgs {
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module action {
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@verbatim (language="comment", text=
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"Simplified joint-space trajectory used by mock / named-pose stack." "\n"
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"MoveIt / ros2_control use control_msgs/FollowJointTrajectory; a bridge" "\n"
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"converts when backend:=moveit or backend:=real.")
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struct FollowJointTrajectory_Goal {
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sequence<string> joint_names;
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@verbatim (language="comment", text=
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"flattened: num_points * num_joints")
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sequence<double> positions;
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uint32 num_points;
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@verbatim (language="comment", text=
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"length = num_points, seconds")
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sequence<double> time_from_start;
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double velocity_scale;
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};
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struct FollowJointTrajectory_Result {
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boolean success;
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string message;
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sequence<double> final_positions;
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};
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struct FollowJointTrajectory_Feedback {
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uint32 current_point;
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double progress;
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string status;
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};
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};
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};
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@@ -0,0 +1,35 @@
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// generated from rosidl_adapter/resource/action.idl.em
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// with input from arm_msgs/action/MoveToPose.action
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// generated code does not contain a copyright notice
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#include "geometry_msgs/msg/PoseStamped.idl"
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module arm_msgs {
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module action {
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@verbatim (language="comment", text=
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"Cartesian goal for tcp / tool0 (implemented by MoveIt backend)")
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struct MoveToPose_Goal {
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geometry_msgs::msg::PoseStamped target_pose;
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double velocity_scale;
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double acceleration_scale;
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boolean avoid_collisions;
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};
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struct MoveToPose_Result {
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boolean success;
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string message;
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sequence<double> final_joint_positions;
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};
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struct MoveToPose_Feedback {
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geometry_msgs::msg::PoseStamped current_pose;
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double progress;
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string status;
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};
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};
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};
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@@ -0,0 +1,36 @@
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// generated from rosidl_adapter/resource/msg.idl.em
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// with input from arm_msgs/msg/ArmStatus.msg
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// generated code does not contain a copyright notice
|
||||
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#include "geometry_msgs/msg/PoseStamped.idl"
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#include "std_msgs/msg/Header.idl"
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module arm_msgs {
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module msg {
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@verbatim (language="comment", text=
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"High-level arm status for monitoring / HMI")
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struct ArmStatus {
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std_msgs::msg::Header header;
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@verbatim (language="comment", text=
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"idle | moving | error | estop")
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string mode;
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boolean is_moving;
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boolean is_homed;
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@verbatim (language="comment", text=
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"rad")
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sequence<double> joint_positions;
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@verbatim (language="comment", text=
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"rad/s")
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sequence<double> joint_velocities;
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geometry_msgs::msg::PoseStamped ee_pose;
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string error_message;
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};
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};
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};
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@@ -0,0 +1,33 @@
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// generated from rosidl_adapter/resource/msg.idl.em
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// with input from arm_msgs/msg/GripperCommand.msg
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// generated code does not contain a copyright notice
|
||||
|
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#include "std_msgs/msg/Header.idl"
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module arm_msgs {
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module msg {
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struct GripperCommand {
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std_msgs::msg::Header header;
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@verbatim (language="comment", text=
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"init|init_full|connect|open|close|stop|move|rotate|rotate_to|rotate_by|rotate_revolutions|home_rotation|set_force|set_speed|set_finger_force|set_finger_speed")
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string command;
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@verbatim (language="comment", text=
|
||||
"command=move: 平行夹爪行程 mm；command=rotate/rotate_by: 角度 deg；command=rotate_revolutions: 圈数")
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double position;
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@verbatim (language="comment", text=
|
||||
"速度百分比（1~100）")
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double speed;
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||||
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@verbatim (language="comment", text=
|
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"力/力矩百分比（DH 一般 20~100）")
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||||
double force;
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||||
|
||||
boolean wait_complete;
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double timeout;
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};
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};
|
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};
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@@ -0,0 +1,60 @@
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// generated from rosidl_adapter/resource/msg.idl.em
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// with input from arm_msgs/msg/GripperStatus.msg
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||||
// generated code does not contain a copyright notice
|
||||
|
||||
#include "std_msgs/msg/Header.idl"
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module arm_msgs {
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module msg {
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struct GripperStatus {
|
||||
std_msgs::msg::Header header;
|
||||
|
||||
string name;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"parallel|rotary")
|
||||
string gripper_type;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"IDLE|MOVING|GRIPPING|RELEASING|ERROR")
|
||||
string state;
|
||||
|
||||
boolean connected;
|
||||
|
||||
boolean initialized;
|
||||
|
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boolean is_moving;
|
||||
|
||||
boolean is_gripped;
|
||||
|
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@verbatim (language="comment", text=
|
||||
"平行夹爪：当前行程 mm；旋转夹爪：当前旋转角度 deg")
|
||||
double position;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"RGI 旋转夹爪额外反馈；平行夹爪为 0")
|
||||
double finger_position_per_mille;
|
||||
|
||||
double rotation_deg;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"DH 原始状态字；未读到为 -1" "\n"
|
||||
"0 moving, 1 reached, 2 object caught, 3 object dropped")
|
||||
int32 gripper_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"RGI: 0 moving, 1 reached, 2 blocking, 3 had been blocked")
|
||||
int32 rotation_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"最近一次命令速度 %")
|
||||
double velocity;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"最近一次命令力/力矩 %")
|
||||
double force;
|
||||
|
||||
string error_msg;
|
||||
};
|
||||
};
|
||||
};
|
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@@ -0,0 +1,22 @@
|
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// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from arm_msgs/msg/HoleDetection.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module arm_msgs {
|
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module msg {
|
||||
struct HoleDetection {
|
||||
float u;
|
||||
|
||||
float v;
|
||||
|
||||
float radius_px;
|
||||
|
||||
float confidence;
|
||||
|
||||
string label;
|
||||
|
||||
sequence<int32> bbox;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,20 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from arm_msgs/msg/HoleDetections.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
#include "arm_msgs/msg/HoleDetection.idl"
|
||||
#include "std_msgs/msg/Header.idl"
|
||||
|
||||
module arm_msgs {
|
||||
module msg {
|
||||
struct HoleDetections {
|
||||
std_msgs::msg::Header header;
|
||||
|
||||
boolean ok;
|
||||
|
||||
string message;
|
||||
|
||||
sequence<arm_msgs::msg::HoleDetection> holes;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,27 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from arm_msgs/msg/JointCommand.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
#include "std_msgs/msg/Header.idl"
|
||||
|
||||
module arm_msgs {
|
||||
module msg {
|
||||
@verbatim (language="comment", text=
|
||||
"Single-shot joint command (position or velocity)")
|
||||
struct JointCommand {
|
||||
std_msgs::msg::Header header;
|
||||
|
||||
sequence<string> joint_names;
|
||||
|
||||
sequence<double> positions;
|
||||
|
||||
sequence<double> velocities;
|
||||
|
||||
sequence<double> accelerations;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"seconds")
|
||||
double time_from_start;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,33 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from arm_msgs/msg/TactileStatus.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
#include "std_msgs/msg/Header.idl"
|
||||
|
||||
module arm_msgs {
|
||||
module msg {
|
||||
struct TactileStatus {
|
||||
std_msgs::msg::Header header;
|
||||
|
||||
string side;
|
||||
|
||||
boolean connected;
|
||||
|
||||
boolean contact;
|
||||
|
||||
float fnormal;
|
||||
|
||||
float fshearx;
|
||||
|
||||
float fsheary;
|
||||
|
||||
float fps;
|
||||
|
||||
float centroid_u;
|
||||
|
||||
float centroid_v;
|
||||
|
||||
string error_msg;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,24 @@
|
||||
// generated from rosidl_adapter/resource/srv.idl.em
|
||||
// with input from arm_msgs/srv/GetArmState.srv
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
#include "geometry_msgs/msg/PoseStamped.idl"
|
||||
|
||||
module arm_msgs {
|
||||
module srv {
|
||||
struct GetArmState_Request {
|
||||
uint8 structure_needs_at_least_one_member;
|
||||
};
|
||||
struct GetArmState_Response {
|
||||
boolean success;
|
||||
|
||||
string mode;
|
||||
|
||||
sequence<double> joint_positions;
|
||||
|
||||
geometry_msgs::msg::PoseStamped ee_pose;
|
||||
|
||||
string message;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,21 @@
|
||||
// generated from rosidl_adapter/resource/srv.idl.em
|
||||
// with input from arm_msgs/srv/GripperExecute.srv
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
#include "arm_msgs/msg/GripperCommand.idl"
|
||||
#include "arm_msgs/msg/GripperStatus.idl"
|
||||
|
||||
module arm_msgs {
|
||||
module srv {
|
||||
struct GripperExecute_Request {
|
||||
arm_msgs::msg::GripperCommand command;
|
||||
};
|
||||
struct GripperExecute_Response {
|
||||
boolean success;
|
||||
|
||||
string message;
|
||||
|
||||
arm_msgs::msg::GripperStatus status;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,25 @@
|
||||
// generated from rosidl_adapter/resource/srv.idl.em
|
||||
// with input from arm_msgs/srv/SetNamedPose.srv
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module arm_msgs {
|
||||
module srv {
|
||||
@verbatim (language="comment", text=
|
||||
"Move to a named pose defined in config (home, ready, inspect, pos_left, ...)")
|
||||
struct SetNamedPose_Request {
|
||||
string pose_name;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"(0, 1], 1 = full speed")
|
||||
double velocity_scale;
|
||||
|
||||
double acceleration_scale;
|
||||
};
|
||||
struct SetNamedPose_Response {
|
||||
boolean success;
|
||||
|
||||
string message;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,49 @@
|
||||
// generated from rosidl_adapter/resource/srv.idl.em
|
||||
// with input from arm_msgs/srv/SwitchTool.srv
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module arm_msgs {
|
||||
module srv {
|
||||
@verbatim (language="comment", text=
|
||||
"切换到已保存的工具坐标系（如 tool1）。" "\n"
|
||||
"" "\n"
|
||||
"背景：非夕的工具坐标系（TCP + 质量 + 质心）在 Studio 里预先配好并命名，" "\n"
|
||||
"RDK 只提供「按名字切换」一个操作。通止规装配要求工具系全程垂直向下锁定，" "\n"
|
||||
"所以在流程开始前必须确认已切到正确的工具。" "\n"
|
||||
"" "\n"
|
||||
"实现：arm_driver_flexiv 调用 scripts/rdk_switch_tool.py（子进程，rdk_py310）。" "\n"
|
||||
"注意 RDK 是独占访问，切换时臂必须处于 IDLE 且没有其它进程连着 RDK。")
|
||||
struct SwitchTool_Request {
|
||||
@verbatim (language="comment", text=
|
||||
"Studio 里已保存的工具名。空字符串 = 只查询当前状态，不切换")
|
||||
string tool_name;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"目标臂 SN（如 Rizon4-063989）。空 = 用 site.yaml 的 robot.sn")
|
||||
string sn;
|
||||
};
|
||||
typedef double double__3[3];
|
||||
struct SwitchTool_Response {
|
||||
@verbatim (language="comment", text=
|
||||
"是否已达到目标状态（已在该工具上也算成功）")
|
||||
boolean success;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"失败原因；成功时为当前工具名说明")
|
||||
string message;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"操作后的当前工具名")
|
||||
string current_tool;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"该工具的质量（kg）；查询不到为 0")
|
||||
double tool_mass_kg;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"该工具的质心（法兰系，m）；查询不到为全 0")
|
||||
double__3 tool_com_m;
|
||||
};
|
||||
};
|
||||
};
|
||||
Reference in New Issue
Block a user