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feat: Implement UDP feedback for RM75 robot arms

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This commit is contained in:
YikaiFu-cart
2026-07-29 15:26:59 +08:00
parent 687a0b401a
commit 08996434e5
16 changed files with 1600 additions and 329 deletions
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xr_rm_bringup/launch/arm_debug.launch.py
+3 -141
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@@ -41,10 +41,6 @@ def _rm75_urdf() -> PathJoinSubstitution:
])
def _initial_pose_override(value: str) -> dict[str, bool]:
return {} if value == "auto" else {"move_to_initial_pose_on_connect": _as_bool(value)}
def _udp_receiver_node() -> Node:
"""接收 PICO/XR UDP 数据，并发布左右手柄 ROS2 话题。"""
return Node(
@@ -65,19 +61,9 @@ def _udp_receiver_node() -> Node:
def _single_arm_node(
arm: str,
use_mock: bool,
move_to_initial_pose: str,
avoid_singularity: int,
control_rate_hz: float,
follow: bool,
configure_safety_limits: bool,
enable_tool_control: bool,
enable_trigger_gripper_control: bool,
trigger_close_threshold: float,
configure_peripheral_on_connect: bool,
) -> Node:
"""创建单臂调试节点；左/右臂分别使用独立 YAML，节点名保持单臂默认名。"""
config_name = "left_arm_rm75.yaml" if arm == "left" else "right_arm_rm75.yaml"
robot_ip = LaunchConfiguration("left_robot_ip" if arm == "left" else "right_robot_ip")
arm_name = _arm_name(arm)
return Node(
package="xr_rm_teleop",
@@ -89,18 +75,7 @@ def _single_arm_node(
_config_file(config_name),
{
"use_mock": use_mock,
"robot_ip": robot_ip,
"robot_port": LaunchConfiguration("robot_port"),
"avoid_singularity": avoid_singularity,
"robot_urdf_path": _rm75_urdf(),
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
**_initial_pose_override(move_to_initial_pose),
"enable_tool_control": enable_tool_control,
"enable_trigger_gripper_control": enable_trigger_gripper_control,
"trigger_close_threshold": trigger_close_threshold,
"configure_peripheral_on_connect": configure_peripheral_on_connect,
"peripheral_config_file": _config_file("peripherals_rm75.yaml"),
"peripheral_arm": arm,
"tool_command_topic": f"/xr_rm/{arm_name}/tool_enable",
@@ -113,19 +88,7 @@ def _arm_name(arm: str) -> str:
return "left_rm75" if arm == "left" else "right_rm75"
def _dual_arm_nodes(
use_mock: bool,
move_to_initial_pose: str,
left_avoid_singularity: int,
right_avoid_singularity: int,
control_rate_hz: float,
follow: bool,
configure_safety_limits: bool,
enable_tool_control: bool,
enable_trigger_gripper_control: bool,
trigger_close_threshold: float,
configure_peripheral_on_connect: bool,
) -> list[Node]:
def _dual_arm_nodes(use_mock: bool) -> list[Node]:
"""创建双臂节点；两个节点共用双臂 YAML，但节点名区分左右臂参数命名空间。"""
config_file = _config_file("dual_arm_rm75.yaml")
return [
@@ -139,18 +102,7 @@ def _dual_arm_nodes(
config_file,
{
"use_mock": use_mock,
"robot_ip": LaunchConfiguration("left_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"avoid_singularity": left_avoid_singularity,
"robot_urdf_path": _rm75_urdf(),
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
**_initial_pose_override(move_to_initial_pose),
"enable_tool_control": enable_tool_control,
"enable_trigger_gripper_control": enable_trigger_gripper_control,
"trigger_close_threshold": trigger_close_threshold,
"configure_peripheral_on_connect": configure_peripheral_on_connect,
"peripheral_config_file": _config_file("peripherals_rm75.yaml"),
"peripheral_arm": "left",
"tool_command_topic": "/xr_rm/left_rm75/tool_enable",
@@ -167,18 +119,7 @@ def _dual_arm_nodes(
config_file,
{
"use_mock": use_mock,
"robot_ip": LaunchConfiguration("right_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"avoid_singularity": right_avoid_singularity,
"robot_urdf_path": _rm75_urdf(),
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
**_initial_pose_override(move_to_initial_pose),
"enable_tool_control": enable_tool_control,
"enable_trigger_gripper_control": enable_trigger_gripper_control,
"trigger_close_threshold": trigger_close_threshold,
"configure_peripheral_on_connect": configure_peripheral_on_connect,
"peripheral_config_file": _config_file("peripherals_rm75.yaml"),
"peripheral_arm": "right",
"tool_command_topic": "/xr_rm/right_rm75/tool_enable",
@@ -198,71 +139,15 @@ def _launch_setup(context, *args, **kwargs):
)
arm = LaunchConfiguration("arm").perform(context).strip().lower()
use_mock = _as_bool(LaunchConfiguration("use_mock").perform(context))
move_to_initial_pose = LaunchConfiguration(
"move_to_initial_pose_on_connect"
).perform(context).strip().lower()
avoid_override = LaunchConfiguration("avoid_singularity").perform(context).strip()
left_avoid_singularity = int(
avoid_override or LaunchConfiguration("left_avoid_singularity").perform(context)
)
right_avoid_singularity = int(
avoid_override or LaunchConfiguration("right_avoid_singularity").perform(context)
)
control_rate_hz = float(LaunchConfiguration("control_rate_hz").perform(context))
follow = _as_bool(LaunchConfiguration("follow").perform(context))
configure_safety_limits = _as_bool(
LaunchConfiguration("configure_safety_limits").perform(context)
)
configure_peripheral_on_connect = _as_bool(
LaunchConfiguration("configure_peripheral_on_connect").perform(context)
)
enable_tool_control = _as_bool(
LaunchConfiguration("enable_tool_control").perform(context)
)
enable_trigger_gripper_control = _as_bool(
LaunchConfiguration("enable_trigger_gripper_control").perform(context)
)
trigger_close_threshold = float(
LaunchConfiguration("trigger_close_threshold").perform(context)
)
if arm not in ("left", "right", "both"):
raise ValueError("arm must be one of: left, right, both")
nodes = [_udp_receiver_node()]
if arm == "both":
nodes.extend(
_dual_arm_nodes(
use_mock,
move_to_initial_pose,
left_avoid_singularity,
right_avoid_singularity,
control_rate_hz,
follow,
configure_safety_limits,
enable_tool_control,
enable_trigger_gripper_control,
trigger_close_threshold,
configure_peripheral_on_connect,
)
)
nodes.extend(_dual_arm_nodes(use_mock))
else:
avoid_singularity = left_avoid_singularity if arm == "left" else right_avoid_singularity
nodes.append(
_single_arm_node(
arm,
use_mock,
move_to_initial_pose,
avoid_singularity,
control_rate_hz,
follow,
configure_safety_limits,
enable_tool_control,
enable_trigger_gripper_control,
trigger_close_threshold,
configure_peripheral_on_connect,
)
)
nodes.append(_single_arm_node(arm, use_mock))
return nodes
@@ -277,29 +162,6 @@ def generate_launch_description() -> LaunchDescription:
DeclareLaunchArgument("udp_port", default_value="15000"),
# UDP receiver 轮询频率高于 PICO 发送频率，减少 socket 中等待时间。
DeclareLaunchArgument("udp_timer_hz", default_value="200.0"),
# 左右 RM75 默认 IP，可在命令行中按现场网络覆盖。
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
# 真机位姿透传与安全配置参数。
DeclareLaunchArgument("left_avoid_singularity", default_value="0"),
DeclareLaunchArgument("right_avoid_singularity", default_value="1"),
# 非空时作为左右臂全局覆盖，例如 avoid_singularity:=0。
DeclareLaunchArgument("avoid_singularity", default_value=""),
# 每周期同步一次实际关节反馈、执行一次 Placo QP，再发送 rm_movej_canfd。
DeclareLaunchArgument("control_rate_hz", default_value="125.0"),
# 默认低跟随；高跟随请确认控制器和网络能稳定满足厂商周期要求后再打开。
DeclareLaunchArgument("follow", default_value="false"),
DeclareLaunchArgument("configure_safety_limits", default_value="true"),
# 工具控制通过遥操作节点复用同一个 RealMan 连接，避免两个进程抢同一机械臂连接。
DeclareLaunchArgument("enable_tool_control", default_value="true"),
# trigger 上升沿切换夹爪开/关；grip 仍只控制机械臂运动。
DeclareLaunchArgument("enable_trigger_gripper_control", default_value="true"),
DeclareLaunchArgument("trigger_close_threshold", default_value="0.95"),
# 连接成功后是否配置外设；关闭后仅订阅开合话题，但开合前需要另行完成外设配置。
DeclareLaunchArgument("configure_peripheral_on_connect", default_value="true"),
# auto 时由单/双臂 YAML 决定；也可显式传 true/false 覆盖。
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="auto"),
# OpaqueFunction 允许根据 arm/use_mock 等运行时参数动态生成节点。
OpaqueFunction(function=_launch_setup),
])