| feat(navi): add lekiwi hardware interface and assembled URDF
- Add lekiwi_hardware package with ros2_control hardware interface for
STS3215 bus servos (arm position + base velocity control)
- Create lekiwi_assembled.urdf.xacro combining simplified base model
with SO101 arm (joints "1"-"9") to replace CAD-exported lekiwi_car.urdf
- Add lekiwi_navi.yaml robot config for real-robot navigation
- Fix base velocity normalization to use physical units (rad/s) instead
of raw motor steps, with conversion handled inside lekiwi_hardware
- Update action_dispatch docs and execution pipeline
Signed-off-by: yanhan <yanhan31@huawei.com>
| 28 天前 |
