Moblie-Aloha家务机器人-12.Aloha手臂主从控制（ROS2）

运行如下指令：

ros2 launch interbotix_xsarm_puppet xsarm_puppet.launch.py robot_model_leader:=wx250s robot_model_follower:=vx300s use_sim:=true

cd ~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/demos/python_ros2_api

修改yaml文件：

port: /dev/ttyUSB0

groups:
  arm:
    operating_mode: position
    profile_type: time
    profile_velocity: 0
    profile_acceleration: 0
    torque_enable: true

singles:
  gripper:
    operating_mode: pwm
    torque_enable: true

python3 bartender_leader.py