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Add arm UDP controller with IK and interpolation

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This commit is contained in:
FallenSigh
2026-06-12 19:01:48 +08:00
parent bdec5d4827
commit f343a01372
5 changed files with 895 additions and 3 deletions
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2
ros2/src/udp_teleop/config/params.yaml
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@@ -1,6 +1,6 @@
keyboard_udp_control:
ros__parameters:
udp_ip: "127.0.0.1"
udp_ip: "192.168.4.1"
udp_port: 8888
chassis_linear_speed: 100
chassis_angular_speed: 45

4
ros2/src/udp_teleop/udp_teleop/keyboard_control.py
View File

@@ -61,7 +61,7 @@ class KeyboardUdpControlNode(Node):
def __init__(self):
super().__init__("keyboard_udp_control")
self.declare_parameter("udp_ip", "192.168.233.67")
self.declare_parameter("udp_ip", "192.168.4.1")
self.declare_parameter("udp_port", 8888)
self.declare_parameter("chassis_linear_speed", 100)
self.declare_parameter("chassis_angular_speed", 45)
@@ -283,7 +283,7 @@ class KeyboardUdpControlNode(Node):
self.arm_height = min(self.arm_height + self.arm_height_step, -10)
arm_changed = True
if KEY_DOWN in keys:
self.arm_height = max(self.arm_height - self.arm_height_step, -280)
self.arm_height = max(self.arm_height - self.arm_height_step, -285)
arm_changed = True
joint_index = self.arm_selected_joint