Feature/simple launch (#14)

* remove unused yaml

* refactor launch

* add 120s

* add variant support

Author: legubiao

dexhands/linkerhand_description/config/ros2_control/l6.yaml

@@ -44,8 +44,8 @@ hand_joint_controller:
       - velocity
 
     # Home 配置（需要根据实际情况调整）
-    home_1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-    home_2: [1.0, 0.5, 1.0, 1.0, 1.0, 1.0]
+    home_1: [0.0, 1.39, 0.0, 0.0, 0.0, 0.0]
+    home_2: [0.6, 1.39, 0.5, 0.5, 0.5, 0.5]
 
     home_duration: 0.2
     movej_duration: 0.2

dexhands/linkerhand_description/config/ros2_control/templates/l6.side.yaml

@@ -16,8 +16,8 @@
     state_interfaces:
       - position
       - velocity
-    home_1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-    home_2: [1.0, 0.5, 1.0, 1.0, 1.0, 1.0]
+    home_1: [0.0, 1.39, 0.0, 0.0, 0.0, 0.0]
+    home_2: [0.6, 1.39, 0.5, 0.5, 0.5, 0.5]
     home_duration: 2.0
     movej_duration: 2.0
     hold_position_threshold: 0.1