arm_dev
26 lines
791 B
YAML
26 lines
791 B
YAML
# 手眼标定交互式路点巡回（预览 + 自由驱动确认）。
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# 位姿来源：同目录的 handeye_poses.yaml
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#
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# 运行：
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# bash ~/ros2/scripts/run_handeye.sh waypoints
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handeye_waypoints:
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ros__parameters:
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joint_prefix: "Rizon4-063989_"
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joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7]
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velocity_scale: 0.05
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action_name: "follow_joint_trajectory"
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dwell_sec: 2.5
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capture_mode: "preview" # auto | keypress | preview
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start_index: 0
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log_csv: ""
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capture_topic: "handeye/capture"
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camera_source: "d405"
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camera_namespace: ""
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image_topic: ""
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preview_window: true
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append_poses_file: "handeye/tmp/taught_poses.txt"
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waypoint_times: [4.0, 4.0, 4.0, 4.0, 4.0, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.0, 4.0]
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