arm_dev
6edb8d39ab
在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态， 使后续任何删除/重构都可回退。 本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
85 lines
2.5 KiB
XML
85 lines
2.5 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<!--
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FastDDS profile for visual-servo hard paths (Ubuntu 22.04 / Humble default RMW).
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Use:
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export FASTRTPS_DEFAULT_PROFILES_FILE=~/ros2/config/fastdds_visual_servo.xml
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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Goals:
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- Prefer UDP unicast for low-latency control topics
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- Shrink discovery / participant lease so late joiners do not stall 100 Hz
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- Keep history shallow so subscribers never chase a backlog
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-->
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<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
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<transport_descriptors>
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<transport_descriptor>
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<transport_id>udp_transport</transport_id>
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<type>UDPv4</type>
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<!-- Avoid shared-memory backlog stalls between heavy perception and servo -->
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<maxMessageSize>65500</maxMessageSize>
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</transport_descriptor>
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</transport_descriptors>
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<participant profile_name="visual_servo_participant" is_default_profile="true">
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<rtps>
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<userTransports>
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<transport_id>udp_transport</transport_id>
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</userTransports>
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<useBuiltinTransports>false</useBuiltinTransports>
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<builtin>
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<discovery_config>
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<!-- Faster discovery; reduce lease so dead peers drop quickly -->
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<leaseDuration>
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<sec>10</sec>
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<nanosec>0</nanosec>
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</leaseDuration>
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<leaseAnnouncement>
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<sec>3</sec>
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<nanosec>0</nanosec>
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</leaseAnnouncement>
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<initialAnnouncements>
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<count>5</count>
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<period>
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<sec>0</sec>
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<nanosec>100000000</nanosec>
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</period>
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</initialAnnouncements>
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</discovery_config>
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</builtin>
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</rtps>
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</participant>
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<!-- Perception image topics: BEST_EFFORT + KEEP_LAST (drop old frames) -->
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<data_reader profile_name="sensor_best_effort">
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<qos>
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<reliability>
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<kind>BEST_EFFORT</kind>
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</reliability>
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<history>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</history>
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<durability>
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<kind>VOLATILE</kind>
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</durability>
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</qos>
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</data_reader>
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<!-- /visual_servo/cmd_vel: always only the newest Twist -->
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<data_writer profile_name="cmd_vel_latest">
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<qos>
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<reliability>
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<kind>RELIABLE</kind>
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</reliability>
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<history>
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<kind>KEEP_LAST</kind>
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<depth>1</depth>
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</history>
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<durability>
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<kind>VOLATILE</kind>
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</durability>
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</qos>
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</data_writer>
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</profiles>
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