HiveCoreRD/hivecore_robot_arm
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update @huiyu

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This commit is contained in:
NuoDaJia02
2026-01-05 09:47:29 +08:00
parent 87576a53a1
commit c23cdfa8f9
2 changed files with 3 additions and 2 deletions
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4
rm_arm_control/simulator/rm_driver_kinematics.cpp
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@@ -240,8 +240,8 @@ int RmArmDriverAndKinematics::computeMovingTrajectory(NodataTrajectory *newTraje
for (int i = 0; i < USED_ARM_DOF; ++i) {
joints[i] = end[i];
}
rm_movej(robotHandle, joints, 20, 1, 0, 0);
return 0;
return rm_movej(robotHandle, joints, 18, 1, 0, 0);
// return 0;
}
int RmArmDriverAndKinematics::computeSteppingTrajectory(NodataTrajectory *newTrajectory, const float *start, const float *speed, int armId)

1
rm_arm_control/src/rm_arm_handler.cpp
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@@ -244,6 +244,7 @@ int RmArmHandler::StartNewTrajectory()
int result = trapezoidalTrajectory_->computeTrajectory(start, goal, goalType);
if (result != 0) {
goalManager_->GoalRunOff();
RCLCPP_ERROR(rclcpp::get_logger(GET_FUNC_LINE_STR()), "computeTrajectory Failed, GoalRunOff.");
}
/*Trajectory* nowTrajectory = trapezoidalTrajectory_->getNowTrajectory();
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Pose stepping continue. accs:%d, unis:%d, vels:%f, %f, %f, %f, %f, %f",