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unilab添加moveit启动

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1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动
This commit is contained in:
zhangshixiang
2025-06-06 22:09:35 +08:00
parent 554766924e
commit 3d11a0cc50
80 changed files with 2378 additions and 67 deletions
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unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml Normal file
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arm:
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001