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

xr_rm_bringup/launch/single_arm_mock.launch.py

@@ -1,36 +1,28 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
-    config_file = PathJoinSubstitution([
-        FindPackageShare("xr_rm_teleop"),
-        "config",
-        "single_arm.yaml",
+    arm_debug_launch = PathJoinSubstitution([
+        FindPackageShare("xr_rm_bringup"),
+        "launch",
+        "arm_debug.launch.py",
     ])
 
     return LaunchDescription([
+        DeclareLaunchArgument("arm", default_value="right"),
         DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
         DeclareLaunchArgument("udp_port", default_value="15000"),
-        Node(
-            package="xr_rm_input",
-            executable="udp_controller_receiver",
-            name="udp_controller_receiver",
-            output="screen",
-            parameters=[{
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(arm_debug_launch),
+            launch_arguments={
+                "arm": LaunchConfiguration("arm"),
+                "use_mock": "true",
                 "udp_host": LaunchConfiguration("udp_host"),
                 "udp_port": LaunchConfiguration("udp_port"),
-                "topic": "/xr/right_controller",
-            }],
-        ),
-        Node(
-            package="xr_rm_teleop",
-            executable="single_arm_velocity_teleop",
-            name="single_arm_velocity_teleop",
-            output="screen",
-            parameters=[config_file, {"use_mock": True}],
+            }.items(),
         ),
     ])