HighTorque (高擎)¶

Serial hardware interface plugin for HighTorque Panthera HT.

Repository: fiveages-sim/ht-ros2-control · README

Plugin: ht_ros2_control/PantheraHardwareInterface. config_file is required in on_init. Description xacro chooses Panthera.yaml vs PantheraDual.yaml; there is no dual_config_file hardware_parameter in source (README names that as the xacro selector). Motor YAML in external/motor_cpp/robot_param/ (Panthera.yaml / PantheraDual.yaml). Default devices /dev/ttyACM*.

Features from that README: isomorphic master–slave teleop path on the description launch; gravity compensation via ht_gravity_compensation when kp/kd are not command interfaces. Field how-to: HighTorque Panthera HT.

joint_kp / joint_kd / gripper_kp / gripper_kd are exposed as node parameters. README: IO thread syncs about every 200 ms — ros2 param set / rqt takes effect without reload. No on_set_parameters callback; the poll is the Runtime path.

How to read Startup only / Runtime: Hardware Interfaces.

Parameters¶

Parameter	Type / default	When	Meaning
`config_file`	string (required)	Startup only	Motor YAML path
`usb_select`	string / `"auto"`	Startup only	Control-box USB path, or `auto` (exactly one box)
`control_mode`	string / `"mit"`	Startup only	`mit` (old name `full_control`) / `effort` / `position`
`gripper_rad_to_m`	double / `0.025`	Startup only	Gripper rad↔m
`max_torques`	CSV, 7 per arm	Startup only	Torque limits; source fallback `[21, 36, 36, 21, 10, 10, 0.5]`
`max_velocities`	CSV, 7 per arm	Startup only	Velocity limits; source fallback `[4.2, 5.0, 5.0, 4.2, 3.7, 3.7, 0.3]`
`joint_kp`	CSV, 6 per arm / `[20, 30, 40, 20, 20, 20]`	Runtime	Arm kp
`joint_kd`	CSV, 6 per arm / `[0.2, 0.3, 0.4, 0.2, 0.2, 0.2]`	Runtime	Arm kd
`gripper_kp`	double / `5.0`	Runtime	夹爪 kp
`gripper_kd`	double / `0.1`	Runtime	夹爪 kd
`shutdown_return_home`	bool / `true`	Startup only	Interp home then `set_stop`
`shutdown_home`	CSV, 6 / zeros	Startup only	Shutdown pose
`shutdown_home_timeout`	double / `3.5`	Startup only	Timeout (s)
`shutdown_home_tolerance`	double / `0.05`	Startup only	Arrive tolerance
`shutdown_home_velocity`	double / `0.3`	Startup only	Interp speed