modify dualarm action interfaces

src/CMakeLists.txt

@@ -61,11 +61,13 @@ set(srv_files
   srv/InverseKinematics.srv
 )
 
-include_directories(include)
-ament_export_include_directories(include)
-install(DIRECTORY include/
-  DESTINATION include/interfaces
-)
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include")
+  include_directories(include)
+  ament_export_include_directories(include)
+  install(DIRECTORY include/
+    DESTINATION include/interfaces
+  )
+endif()
 
 # uncomment the following section in order to fill in
 # further dependencies manually.

src/action/DualArm.action

@@ -5,17 +5,9 @@ uint8 STATUS_PLANNING = 0   # 状态: 规划中
 uint8 STATUS_EXECUTING = 1  # 状态: 执行中
 uint8 STATUS_DONE = 2       # 状态: 完成
 
-# 臂类型常量定义
-uint8 ARM_LEFT = 0    # 类型: 左臂
-uint8 ARM_RIGHT = 1   # 类型: 右臂
-uint8 ARM_DUAL = 2    # 类型: 双臂
-
 # Action Goal: 双臂控制目标
-uint8 arm_type                       # 运动臂类型 | 0:左臂, 1:右臂, 2:双臂
 interfaces/ArmMotionParams[] arm_motion_params   # 每条手臂的运动参数 (包含目标位姿、轨迹等)
 float64 velocity_scaling             # 速度缩放因子  [0.0, 1.0] (1.0表示全速)
-float64 acceleration_scaling         # 加速度缩放因子 [0.0, 1.0]
-float64 cartesian_step               # 直角坐标空间规划步长 [单位: m] [0, 0.5] 
 
 ---
 

src/include/arm_action_define.h

@@ -1,35 +0,0 @@
-#ifndef ARM_ACTION_DEFINE_H
-#define ARM_ACTION_DEFINE_H
-
-#include "err_code.h"
-
-#define USED_ARM_DOF                (6)
-#define GOAL_DATA_LENGTH            (7)
-#define USED_OTHER_DOF              (17)
-
-typedef enum {
-    ARM_COMMAND_TYPE_ANGLE_STEP_ON = 0,
-    ARM_COMMAND_TYPE_POSE_STEP_ON,
-    ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE,
-    ARM_COMMAND_TYPE_POSE_DIRECT_MOVE,
-    ARM_COMMAND_TYPE_ERR
-} ArmCommandTypeE;
-
-typedef enum {
-    POSE_POSITION_X = 0,
-    POSE_POSITION_Y,
-    POSE_POSITION_Z,
-    POSE_QUATERNION_X,
-    POSE_QUATERNION_Y,
-    POSE_QUATERNION_Z,
-    POSE_QUATERNION_W,
-    POSE_DIMENSION, // should be 7
-} PoseDimensionE;
-
-typedef enum {
-    LEFT_ARM = 0,
-    RIGHT_ARM,
-    ARM_ID_ERR
-} ArmIdE;
-
-#endif // ARM_ACTION_DEFINE_H

src/include/err_code.h

@@ -1,14 +0,0 @@
-#ifndef ERR_CODE_H
-#define ERR_CODE_H
-
-typedef enum {
-    OK = 0,
-    UNKNOWN_ERR = -1,
-    ARM_NOW_FORCE_MOVING = -2,
-    ARM_COLLISION = -3,
-    ARM_AIM_CANNOT_REACH = -4,
-    ARM_NOW_NO_GOAL = -5,
-    ARM_GOAL_CANCELLED = -6,
-} ErrCodeE;
-
-#endif // ERR_CODE_H

src/msg/ArmMotionParams.msg

@@ -9,7 +9,8 @@ uint8 MOVEL = 1       # 笛卡尔空间直线运动 (Move Linear)
 uint8 ARM_LEFT = 0    # 左臂
 uint8 ARM_RIGHT = 1   # 右臂
 
-uint8 arm_id                  # 机械臂ID 0: 左臂, 1: 右臂, 2: 双臂
+uint8 arm_id                  # 机械臂ID 0: 左臂, 1: 右臂
 uint8 motion_type             # 运动模式: MOVEJ / MOVEL
 geometry_msgs/Pose target_pose    # 笛卡尔目标位姿 (仅 MOVEL 使用) [位置m, 姿态quaternion]
 float64[] target_joints           # 目标关节角 (仅 MOVEJ 使用) [单位: 弧度 rad]
+float64 blend_radius              # 轨迹交融半径 [单位: m] [0, 0.5] (0表示不启用blending，>0表示启用轨迹混合)