OpenClaw 机器人配置

基础配置文件 (config.yaml)

  name: "OpenClaw-v2"
  version: "2.0"
  mode: "development"  # development/production
# 串口配置
serial:
  port: "/dev/ttyACM0"
  baudrate: 115200
  timeout: 0.1
# 伺服电机配置
servos:
  base:
    id: 1
    min_angle: -90
    max_angle: 90
    offset: 0
  shoulder:
    id: 2
    min_angle: 0
    max_angle: 180
    offset: 5
  elbow:
    id: 3
    min_angle: 0
    max_angle: 180
    offset: -3
  wrist:
    id: 4
    min_angle: -90
    max_angle: 90
    offset: 0
  claw:
    id: 5
    min_angle: 0    # 闭合
    max_angle: 60   # 张开
    offset: 2
# 运动参数
motion:
  default_speed: 50    # 百分比
  acceleration: 100    # 加速度
  home_position: [90, 90, 90, 0, 0]  # 初始位置
# 传感器配置
sensors:
  force_sensor:
    enabled: true
    pin: "A0"
    threshold: 500
  limit_switches:
    enabled: true
    pins: [2, 3, 4]
# 通信配置
communication:
  mqtt:
    enabled: false
    broker: "localhost"
    port: 1883
  ros:
    enabled: true
    topic: "/openclaw/commands"
# 安全设置
safety:
  current_limit: 2.0   # 安培
  temperature_limit: 60 # 摄氏度
  emergency_stop_pin: 7

网络配置 (network.yaml)

network:
  hostname: "openclaw-robot"
  wifi:
    ssid: "your_wifi_ssid"
    password: "your_wifi_password"
    mode: "station"  # station/access_point
  web_interface:
    enabled: true
    port: 8080
    auth:
      enabled: true
      username: "admin"
      password: "openclaw123"
  api:
    enabled: true
    port: 5000
    cors_origins: ["http://localhost:3000"]

校准配置文件 (calibration.yaml)

calibration:
  servo_offsets:
    base: 0
    shoulder: 5
    elbow: -3
    wrist: 0
    claw: 2
  mechanical_limits:
    base_min: -90
    base_max: 90
    shoulder_min: 0
    shoulder_max: 180
    elbow_min: 20
    elbow_max: 160
    wrist_min: -45
    wrist_max: 45
    claw_open: 60
    claw_close: 0
  workspace:
    radius_min: 50   # mm
    radius_max: 300  # mm
    height_min: -50  # mm
    height_max: 250  # mm

Python 配置文件 (config.py)

# OpenClaw Python SDK 配置
import yaml
class OpenClawConfig:
    def __init__(self, config_path="config.yaml"):
        with open(config_path, 'r') as f:
            self.config = yaml.safe_load(f)
    # 获取配置项
    @property
    def servos(self):
        return self.config.get('servos', {})
    @property
    def serial_port(self):
        return self.config.get('serial', {}).get('port', '/dev/ttyUSB0')
    @property
    def home_position(self):
        return self.config.get('motion', {}).get('home_position', [90, 90, 90, 0, 0])
    # 保存配置
    def save(self, path="config.yaml"):
        with open(path, 'w') as f:
            yaml.dump(self.config, f, default_flow_style=False)

ROS 配置文件 (openclaw_control.launch)

<launch>
    <!-- OpenClaw 机器人控制节点 -->
    <node name="openclaw_driver" pkg="openclaw_ros" 
          type="driver_node.py" output="screen">
        <param name="port" value="/dev/ttyACM0" />
        <param name="baudrate" value="115200" />
    </node>
    <node name="openclaw_controller" pkg="openclaw_ros" 
          type="controller_node.py" output="screen">
        <param name="rate" value="50" />
    </node>
    <!-- MoveIt! 配置（如果使用） -->
    <include file="$(find openclaw_moveit)/launch/move_group.launch" />
</launch>

配置使用说明：

安装依赖

# Python 依赖
pip install pyyaml pyserial
# 如果是 ROS 版本
sudo apt-get install ros-<distro>-openclaw-ros

加载配置

from openclaw.config import OpenClawConfig
# 加载配置
config = OpenClawConfig("config.yaml")
# 使用配置
print(f"串口: {config.serial_port}")
print(f"伺服数量: {len(config.servos)}")
# 修改并保存配置
config.config['robot']['name'] = "MyOpenClaw"
config.save("my_config.yaml")

环境变量配置

# .env 文件
OPENCLAW_PORT=/dev/ttyACM0
OPENCLAW_BAUDRATE=115200
OPENCLAW_MODE=development
OPENCLAW_LOG_LEVEL=INFO

配置建议：

1. 首次使用：从默认配置开始，只修改必要的参数
2. 校准：先运行校准程序，保存校准数据到配置文件
3. 备份：修改前备份原始配置文件
4. 版本控制：将配置文件加入版本控制系统

需要根据您的具体硬件（Arduino、Raspberry Pi、STM32等）调整串口配置和引脚定义，如果您使用的是特定版本（如OpenClaw-V2、OpenClaw-Mini）,请查阅对应的硬件文档。

标签： OpenClaw 机器人配置