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DualArm action set velocity and radius to be int32

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NuoDaJia
2026-01-30 15:47:09 +08:00
parent 2cc7f14415
commit 7c77bea98e
2 changed files with 2 additions and 2 deletions
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2
src/action/DualArm.action
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@@ -7,7 +7,7 @@ uint8 STATUS_DONE = 2 # 状态: 完成
# Action Goal: 双臂控制目标
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)
int32 velocity_scaling # 速度百分比系数 [1, 100] (100表示全速)
---

2
src/msg/ArmMotionParams.msg
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@@ -13,4 +13,4 @@ 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)
int32 blend_radius # 轨迹交融半径百分比系数 [0, 100] (0表示不启用blending，>0表示启用轨迹混合)