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Add configuration files and launch scripts for left and right arm RM75 teleoperation

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This commit is contained in:
YikaiFu-cart
2026-05-21 17:25:59 +08:00
parent 5a48619599
commit 4dea1ae530
16 changed files with 1576 additions and 122 deletions
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18
xr_rm_bringup/launch/dual_arm_mock.launch.py
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@ -1,5 +1,6 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
@ -9,18 +10,23 @@ def generate_launch_description() -> LaunchDescription:
config_file = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"config",
"dual_arm_rm75.yaml",
LaunchConfiguration("robot_config"),
])
return LaunchDescription([
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
DeclareLaunchArgument("run_udp", default_value="true"),
DeclareLaunchArgument("run_left_arm", default_value="true"),
DeclareLaunchArgument("run_right_arm", default_value="true"),
# 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
condition=IfCondition(LaunchConfiguration("run_udp")),
parameters=[{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
@ -34,6 +40,7 @@ def generate_launch_description() -> LaunchDescription:
executable="single_arm_velocity_teleop",
name="left_arm_teleop",
output="screen",
condition=IfCondition(LaunchConfiguration("run_left_arm")),
parameters=[config_file, {"use_mock": True}],
),
# 右臂模拟节点：与左臂共用同一配置文件，但读取右手柄话题。
@ -42,14 +49,7 @@ def generate_launch_description() -> LaunchDescription:
executable="single_arm_velocity_teleop",
name="right_arm_teleop",
output="screen",
condition=IfCondition(LaunchConfiguration("run_right_arm")),
parameters=[config_file, {"use_mock": True}],
),
# 右手扳机键到 OmniPicker 归一化力控指令的桥接，模拟阶段用于检查话题输出。
Node(
package="xr_rm_teleop",
executable="gripper_trigger_bridge",
name="right_omnipicker_trigger_bridge",
output="screen",
parameters=[config_file],
),
])