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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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47
xr_rm_bringup/launch/single_arm_realman.launch.py
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@ -1,46 +1,37 @@
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([
arm_debug_launch = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"config",
LaunchConfiguration("robot_config"),
"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"),
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
# 兼容旧命令：robot_ip 仍作为右臂 IP 覆盖入口。
DeclareLaunchArgument("robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
DeclareLaunchArgument("robot_config", default_value="single_arm_rm75.yaml"),
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
parameters=[{
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(arm_debug_launch),
launch_arguments={
"arm": LaunchConfiguration("arm"),
"use_mock": "false",
"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": False,
"robot_ip": LaunchConfiguration("robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
},
],
"left_robot_ip": LaunchConfiguration("left_robot_ip"),
"right_robot_ip": LaunchConfiguration("robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": LaunchConfiguration("move_to_initial_pose_on_connect"),
}.items(),
),
])