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feat: add head control and joint data decoder

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meiqi
2026-08-11 19:10:35 +08:00
parent 4cceebfa5f
commit ae0b1dcc85
21 changed files with 1263 additions and 76 deletions
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58
tg3_local_teleop/config.toml
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@@ -84,8 +84,8 @@ max_duration_seconds = 1800.0
# Explicit data whitelist; never replace this with `-a` on the live robot.
# RGB is recorded through image_transport JPEG and 16UC1 depth through its
# lossless compressedDepth PNG transport. Both RGB-D cameras are optional:
# rosbag discovers and records either one whenever its service is running.
# lossless compressedDepth PNG transport. Only the head RGB-D camera is in the
# whitelist. It is optional and is discovered whenever its service is running.
# /robot_state is the authoritative measured robot state.
topics = [
"/robot_state",
@@ -102,6 +102,7 @@ topics = [
"/hric/robot/cmd_vel",
"/hric/robot/cmd_vel_status",
"/hric/robot/rl_state",
"/head/cmd",
"/imu_data",
"/power/board/key_status",
"/power/board/status",
@@ -112,12 +113,6 @@ topics = [
"/ob_camera_head/depth/image_raw/compressedDepth",
"/ob_camera_head/depth/camera_info",
"/ob_camera_head/depth/metadata",
"/ob_camera_waist/color/image_raw/compressed",
"/ob_camera_waist/color/camera_info",
"/ob_camera_waist/color/metadata",
"/ob_camera_waist/depth/image_raw/compressedDepth",
"/ob_camera_waist/depth/camera_info",
"/ob_camera_waist/depth/metadata",
"/tf_static",
"/tg3/data_collection/control",
"/tg3/data_collection/status",
@@ -157,20 +152,6 @@ topics = [
"/ob_camera_head/color/image_raw/compressed" = 20.0
"/ob_camera_head/depth/image_raw/compressedDepth" = 20.0
[data_collection.optional_topic_groups.waist_rgbd]
topics = [
"/ob_camera_waist/color/image_raw/compressed",
"/ob_camera_waist/color/camera_info",
"/ob_camera_waist/color/metadata",
"/ob_camera_waist/depth/image_raw/compressedDepth",
"/ob_camera_waist/depth/camera_info",
"/ob_camera_waist/depth/metadata",
]
[data_collection.optional_topic_groups.waist_rgbd.minimum_topic_rates_hz]
"/ob_camera_waist/color/image_raw/compressed" = 20.0
"/ob_camera_waist/depth/image_raw/compressedDepth" = 20.0
[locomotion]
# Once Z+C has armed teleoperation and both sticks have been observed neutral,
# left-stick vertical directly controls translation and right-stick horizontal
@@ -196,6 +177,39 @@ forward_axis_sign = 1.0
yaw_axis_sign = -1.0
zero_burst_frames = 10
[head]
# Camera-pitch mode: after Z+C arms teleoperation and the right-stick vertical
# axis has been observed neutral once, hold left Z while pushing the right stick
# up/down. While Z is held, right-stick yaw is suppressed so camera adjustment
# cannot accidentally turn the robot. No R3 is used.
enabled = true
command_topic = "/head/cmd"
state_topic = "/robot_state"
pitch_motor_id = 2
frame_id = "head"
mode = 0
label = 151
max_current_a = 1.0
command_speed_rad_s = 0.2
# Documented mechanical range is -15..+58 deg. Keep the commissioned visual
# working range at -10..+50 deg and always start from fresh measured feedback.
min_pitch_rad = -0.1745329252
max_pitch_rad = 0.872664626
max_pitch_speed_rad_s = 0.2
max_pitch_accel_rad_s2 = 0.5
pitch_axis_sign = -1.0
joystick_deadzone = 0.1
max_integration_dt_s = 0.1
input_timeout_s = 0.3
feedback_timeout_s = 0.25
# Existing vendor nodes advertise /head/cmd publishers. They are allowed when
# idle, but any actual foreign message leases head control for this interval;
# our bridge resumes only after quiet plus another neutral-stick observation.
foreign_command_quiet_s = 1.0
self_command_window_s = 0.25
[hands]
# TianGong 3.0 on this robot uses BrainCo Revo2 hands. Commands are published
# only while the same physical 3-second teleoperation latch is armed.