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修复moveit

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增加post_init阶段，给予ros_node反向
This commit is contained in:
Xuwznln
2025-06-09 04:32:23 +08:00
parent 87f0e57d93
commit b150821418
3 changed files with 229 additions and 261 deletions
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60
unilabos/registry/devices/moveit_config.yaml
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@@ -2,29 +2,55 @@ moveit.toyo_xyz:
description: Toyo XYZ
class:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
type: ros2
type: python
action_value_mappings:
set_position:
type: SendCmd
goal:
command: command
feedback: { }
result: { }
pick_and_place:
type: SendCmd
goal:
command: command
feedback: { }
result: { }
set_status:
type: SendCmd
goal:
command: command
feedback: { }
result: { }
model:
type: device
mesh: toyo_xyz
moveit.benyao_arm:
description: Benyao Arm
class:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
type: ros2
model:
type: device
mesh: benyao_arm
action_value_mappings:
set_position:
type: SendCmd
feedback: {}
result: {}
pick_and_place:
type: SendCmd
feedback: {}
result: {}
set_status:
type: SendCmd
feedback: {}
result: {}
class:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
type: python
action_value_mappings:
set_position:
type: SendCmd
goal:
command: command
feedback: {}
result: {}
pick_and_place:
type: SendCmd
goal:
command: command
feedback: {}
result: {}
set_status:
type: SendCmd
goal:
command: command
feedback: {}
result: {}