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xr_rm_bringup/launch/dual_arm_mock.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+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_bringup"),
+        "config",
+        "dual_arm_rm75.yaml",
+    ])
+
+    return LaunchDescription([
+        DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
+        DeclareLaunchArgument("udp_port", default_value="15000"),
+        # 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",
+            parameters=[{
+                "udp_host": LaunchConfiguration("udp_host"),
+                "udp_port": LaunchConfiguration("udp_port"),
+                "left_topic": "/xr/left_controller",
+                "right_topic": "/xr/right_controller",
+            }],
+        ),
+        # 左臂模拟节点：不连接真实 RM75，只积分速度命令用于验证坐标方向。
+        Node(
+            package="xr_rm_teleop",
+            executable="single_arm_velocity_teleop",
+            name="left_arm_teleop",
+            output="screen",
+            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。
+        Node(
+            package="xr_rm_teleop",
+            executable="single_arm_velocity_teleop",
+            name="right_arm_teleop",
+            output="screen",
+            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],
+        ),
+    ])