arm_dev
7af9e3d4b6
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>
59 lines
2.1 KiB
Bash
Executable File
59 lines
2.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 两臂之间的顶置 D435（`eye-to-hand`，相机固定在外）。
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# 可以和 run_camera_d405.sh 同时开：只杀 camera_name:=d435，不动腕部那台。
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#
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# bash ~/ros2/scripts/run_camera_d435.sh --preview
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#
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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PREVIEW=1
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--preview) PREVIEW=1; shift ;;
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--no-preview) PREVIEW=0; shift ;;
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-h|--help) sed -n '2,8p' "$0"; exit 0 ;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/env.sh"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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SN="${SITE_D435_SERIAL:-}"
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if [[ -z "${SN}" ]]; then
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echo "ERROR: cameras.d435.serial empty in site.yaml" >&2
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exit 2
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fi
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echo "=== D435 overhead serial=${SN} ${SITE_D435_WIDTH:-1280}x${SITE_D435_HEIGHT:-720}@${SITE_D435_FPS:-30} ==="
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# 只杀顶视这一台。不要 pkill 全部 realsense_view —— 那会把正在看的 D405 预览窗干掉，
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# 绿框叠在 D405 窗口上，窗没了就像"伺服没画面、也没工件框"。
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pkill -f "camera_name:=d435( |$)" 2>/dev/null || true
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CAM_ARGS=(
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--ros-args
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-p camera_name:=d435
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-p camera_serial:="${SN}"
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-p width:="${SITE_D435_WIDTH:-1280}"
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-p height:="${SITE_D435_HEIGHT:-720}"
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-p fps:="${SITE_D435_FPS:-30}"
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-p enable_depth:=true
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-p enable_infra:=false
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-p preview_stereo:=false
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-p auto_exposure:=true
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-p ae_limit_us:=8000
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-p emitter_enabled:=true
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)
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if [[ "${PREVIEW}" == "1" ]]; then
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ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}" -p show_preview:=false &
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CAM_PID=$!
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trap 'kill "${CAM_PID}" 2>/dev/null || true' EXIT INT TERM
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# 绿框来自 workpiece/detection_overhead（D435 像素）。不要订 workpiece/detection。
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ros2 run arm_application realsense_view --ros-args \
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-p camera_name:=d435 \
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-p overlay_detection:=true \
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-p detection_topic:=workpiece/detection_overhead \
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-p overlay_hold_sec:=1.5 \
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-p hud_label:="D435 顶视"
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else
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exec ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}"
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fi
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