Marvin

Marvin SDK hardware interface plugin (M6 and related). Command interfaces are joint position only. Compliance is vendor ctrl_mode (POSITION / JOINT_IMPEDANCE / CART_IMPEDANCE / POWER_OFF) plus joint_k_gains / joint_d_gains. USB-dongle 夹爪 / 灵巧手 use Modbus or CAN, not this package.

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

Plugin: marvin_ros2_control/MarvinHardware. URDF <param> are declared as node parameters. README §4 lists the Runtime set; paramCallback matches those plus drag_mode, cart_type, *_kine_param / *_dyn_param, tool_debug_log.

Tianji control SDK (TJ_FX_ROBOT_CONTRL_SDK, private submodule) is a pre-built library linked when this hardware interface compiles; it is not redistributed separately.

left_ee_channel / right_ee_channel: 1 = CAN/CAN FD, 2 = COM1 RS485 (source COM1_CHANNEL).

Tool-dynamics / 负载辨识 wizard: ros2 run marvin_ros2_control tool_dyn_identify_wizard. VR path: VR Teleoperation.

How to read Startup only / Runtime: Hardware Interfaces.

Startup (bus / tool type)

Parameter	Type / default	Meaning
arm_type	string / "LEFT"	left / right / dual (normalized)
device_ip	string / "192.168.1.190"	Controller IP
device_port	int / 8080	Port
left_ee_type / right_ee_type	string / empty	Tool key (README §1)
left_ee_channel / right_ee_channel	int / 2	Tool bus
use_async_tool_comm	bool / true (source; not in README §3.1)	Async tool IO
kwr75_ft_enabled / left_ft_enabled / right_ft_enabled	bool (source; not in README §3.1)	COM2 KWR75
left_ft_channel / right_ft_channel	int (source)	FT SDK channels
ft_poll_interval_ms / ft_command_code / ft_convert_to_si / ft_gravity / ft_warmup_timeout_ms	source	KWR75 on the arm bus

pd_k_gains / pd_d_gains / pd_control_period_ms / use_drag_mode are declared in on_init (source defaults [14,14,14,10.5,5.6,5.6,5.6], [0.3×7], 5, false). They are not in paramCallback or README §4 — Startup only.

Runtime (README §4 + paramCallback)

Parameter	Type / default	Meaning
ctrl_mode	string / "POSITION"	POSITION / JOINT_IMPEDANCE / CART_IMPEDANCE / POWER_OFF
joint_k_gains / joint_d_gains	double[7] / [2,2,2,1.6,1,1,1] / [0.4×7]	Joint impedance
cart_k_gains / cart_d_gains	double[7] / [1800,1800,1800,40,40,40,20] / [0.6,0.6,0.6,0.4,0.4,0.4,0.4]	Cartesian impedance
cart_type	int / 2	Cartesian impedance type
drag_mode	int / -1	-1 no update, 0 off, 1 joint drag, 2 cartesian drag
max_joint_speed	double / 10.0	Joint speed limit (README XML example uses 50)
max_joint_acceleration	double / 10.0	Joint acc limit (README XML example uses 30)
left_dyn_param / right_dyn_param	double[10] / zeros	Tool dynamics
left_kine_param / right_kine_param	double[6] / zeros	Tool kinematics
left_tool_torque / left_tool_velocity	double / 1.0	Left tool scale [0,1]
right_tool_torque / right_tool_velocity	double / 1.0	Right tool scale [0,1]
left_brake_release / right_brake_release	bool / false	Brake; README: only in POWER_OFF with hardware inactive
tool_debug_log	bool / false (source)	Tool-frame logs