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add calibrateZeroQ

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This commit is contained in:
linbo 2026-02-25 09:55:53 +08:00
parent d79f493131
commit 1cd57c36ea
5 changed files with 87 additions and 2 deletions
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49
cmvr-es/common/config/camera_config/camera_config.pb.txt
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@ -1,5 +1,5 @@
realsense_cameras {
id: "cam2"
id: "cam1"
serialNumber: "243122074587"
width: 640
height: 480
@ -10,11 +10,41 @@ realsense_cameras {
align_mode: ALIGN_MODE_COLOR
buffer_size: 30
sync: false
enable: false
}
realsense_cameras {
id: "left_hand_cam"
serialNumber: "243122072252"
width: 640
height: 480
fps: 30
codec: "H265"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGBD
align_mode: ALIGN_MODE_COLOR
buffer_size: 30
sync: false
enable: true
}
realsense_cameras {
id: "cam3"
serialNumber: "243122075614"
width: 640
height: 480
fps: 30
codec: "H265"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGBD
align_mode: ALIGN_MODE_COLOR
buffer_size: 30
sync: false
enable: false
}
uvc_cameras {
id: "cam1"
id: "left_eye_cam"
usb: "/dev/uvc_left_camera"
width: 640
height: 480
@ -25,3 +55,18 @@ uvc_cameras {
buffer_size: 30
enable: false
}
realsense_cameras {
id: "cam5"
serialNumber: "243122075389"
width: 640
height: 480
fps: 30
codec: "H265"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGBD
align_mode: ALIGN_MODE_COLOR
buffer_size: 30
sync: false
enable: false
}

3
cmvr-es/service/grpc/include/grpc_humanoid_robot_service.h
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@ -27,7 +27,10 @@ namespace cmvr {
grpc::Status speedL(grpc::ServerContext* context, const cmvr::api::SpeedL_Request* request, cmvr::api::SpeedL_Response* response) override;
grpc::Status getJointState(grpc::ServerContext *context, const cmvr::api::JointRequest *request, cmvr::api::JointResponse *response) override;
grpc::Status getPose(grpc::ServerContext *context, const cmvr::api::GetPose_Request *request, cmvr::api::GetPose_Response *response) override;
grpc::Status calibrateZeroQ(grpc::ServerContext* context, const cmvr::api::CalibrateZeroQ_Request* request, cmvr::api::CalibrateZeroQ_Response* response) override;
private:
device::DeviceManager& dmgr_;
};

25
cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp
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@ -219,3 +219,28 @@ grpc::Status gRPCHumanoidRobotServiceImpl::getJointState(grpc::ServerContext *co
*response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
return ret;
}
grpc::Status gRPCHumanoidRobotServiceImpl::calibrateZeroQ(grpc::ServerContext* context
, const cmvr::api::CalibrateZeroQ_Request* request
, cmvr::api::CalibrateZeroQ_Response* response) {
grpc::Status ret = grpc::Status::OK;
try {
auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id());
std::string joint_name = request->joint_name();
robot->calibrateZeroQ(joint_name);
response->mutable_header()->set_success(true);
response->mutable_header()->set_error_message("");
}catch (const std::exception& e) {
response->mutable_header()->set_success(false);
response->mutable_header()->set_error_message(e.what());
ret = grpc::Status(grpc::StatusCode::INTERNAL, e.what());
}
*response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
return ret;
}

11
protos/cmvr/api/humanoid_robot_command.proto
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@ -133,3 +133,14 @@ message JointRequest {
CommandHeader.Request header = 1;
}
message CalibrateZeroQ {
message Request{
CommandHeader.Request header = 1;
string joint_name = 2;
}
message Response{
CommandHeader.Feedback header= 1;
}
}

1
protos/cmvr/api/humanoid_robot_service.proto
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@ -14,4 +14,5 @@ service HumanoidRobotService{
rpc speedL(SpeedL.Request) returns (SpeedL.Response);
rpc getJointState(JointRequest) returns (JointResponse);
rpc getPose(GetPose.Request) returns (GetPose.Response);
rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
}