initial

xr_rm_bringup/launch/single_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_teleop"),
+        "config",
+        "single_arm.yaml",
+    ])
+
+    return LaunchDescription([
+        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=[{
+                "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}],
+        ),
+    ])