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

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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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24
xr_rm_bringup/launch/dual_arm_realman.launch.py
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@ -1,7 +1,9 @@
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.parameter_descriptions import ParameterValue
from launch_ros.substitutions import FindPackageShare
@ -19,11 +21,16 @@ def generate_launch_description() -> LaunchDescription:
DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
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"),
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
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"),
@ -36,12 +43,17 @@ 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": False,
"robot_ip": LaunchConfiguration("left_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": ParameterValue(
LaunchConfiguration("move_to_initial_pose_on_connect"),
value_type=bool,
),
},
],
),
@ -50,20 +62,18 @@ 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": False,
"robot_ip": LaunchConfiguration("right_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": ParameterValue(
LaunchConfiguration("move_to_initial_pose_on_connect"),
value_type=bool,
),
},
],
),
Node(
package="xr_rm_teleop",
executable="gripper_trigger_bridge",
name="right_omnipicker_trigger_bridge",
output="screen",
parameters=[config_file],
),
])