HiveCoreRD/hivecore_robot_arm
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Merge remote-tracking branch 'refs/remotes/origin/main'

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This commit is contained in:
zj
2025-11-18 11:22:30 +08:00
parent 3c8cd6120a 87576a53a1
commit 63cee48b82
3 changed files with 22 additions and 14 deletions
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2
rm_arm_control/simulator/rm_driver_kinematics.cpp
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@@ -240,7 +240,7 @@ int RmArmDriverAndKinematics::computeMovingTrajectory(NodataTrajectory *newTraje
for (int i = 0; i < USED_ARM_DOF; ++i) {
joints[i] = end[i];
}
return rm_movej(robotHandle, joints, 5, 1, 0, 0);
return rm_movej(robotHandle, joints, 20, 1, 0, 0);
}
int RmArmDriverAndKinematics::computeSteppingTrajectory(NodataTrajectory *newTrajectory, const float *start, const float *speed, int armId)

26
rm_arm_control/src/rm_arm_handler.cpp
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@@ -32,10 +32,12 @@ void PrintData(ArmStatusCallbackData *data)
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "errCode: %d", data->errCode);
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "current:");
for (size_t i = 0; i < USED_ARM_DOF; i++){
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointCurrent[i]);
current += std::to_string(data->jointCurrent[i]) + " ";
//RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointCurrent[i]);
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%s", current.c_str());
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "enable:");
/*RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "enable:");
for (size_t i = 0; i < USED_ARM_DOF; i++){
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d ", data->jointEnFlag[i]);
}
@@ -56,16 +58,21 @@ void PrintData(ArmStatusCallbackData *data)
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointSpeed[i]);
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "temperature:");
posStr = "temperature: ";
//RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "temperature:");
for (size_t i = 0; i < USED_ARM_DOF; i++){
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointTemp[i]);
posStr += std::to_string(data->jointTemp[i]) + " ";
//RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointTemp[i]);
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%s", posStr.c_str());
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "voltage:");
posStr = "voltage: ";
//RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "voltage:");
for (size_t i = 0; i < USED_ARM_DOF; i++){
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointVoltage[i]);
}*/
//RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointVoltage[i]);
posStr += std::to_string(data->jointVoltage[i]) + " ";
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%s", posStr.c_str());*/
}
void RmArmHandler::ArmDealCallBackInfo(ArmStatusCallbackData *data)
@@ -90,7 +97,8 @@ void RmArmHandler::ArmDealCallBackInfo(ArmStatusCallbackData *data)
armStatus = ARM_STATUS_WAITING;
}
if (temp != ARM_STATUS_READY){
PrintData(data);
// if (armType_ == 1)
// PrintData(data);
}
}

8
rm_arm_control/src/rm_arm_node.cpp
View File

@@ -278,10 +278,10 @@ void RmArmNode::ArmActionFeedback(int coll)
feedback->float_length = POSE_DIMENSION;
feedback->int_data_array = {coll};
feedback->float_data_array = {pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], pose[6]};
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Publishing feedback for command id: %ld, joints: %f, %f, %f, %f, %f, %f, %f",
feedback->command_id, feedback->float_data_array[0], feedback->float_data_array[1],
feedback->float_data_array[2], feedback->float_data_array[3],
feedback->float_data_array[4], feedback->float_data_array[5], feedback->float_data_array[6]);
// RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Publishing feedback for command id: %ld, joints: %f, %f, %f, %f, %f, %f, %f",
// feedback->command_id, feedback->float_data_array[0], feedback->float_data_array[1],
// feedback->float_data_array[2], feedback->float_data_array[3],
// feedback->float_data_array[4], feedback->float_data_array[5], feedback->float_data_array[6]);
goal_handle->publish_feedback(feedback);
}
}