feat: 接入番茄采摘ACT采集启动项

xr_rm_bringup/launch/arm_debug.launch.py

@@ -80,6 +80,29 @@ def _validate_mujoco_mode(arm: str, use_mujoco: bool) -> None:
         raise ValueError("use_mujoco:=true requires arm:=both")
 
 
+def _validate_act_mode(
+    arm: str,
+    use_mock: bool,
+    record_act: bool,
+) -> None:
+    if record_act and (arm != "right" or use_mock):
+        raise ValueError(
+            "record_act:=true requires arm:=right use_mock:=false"
+        )
+
+
+def _act_recorder_node() -> Node:
+    """创建独立 ACT 数据采集节点；退出时不终止遥操作。"""
+    return Node(
+        package="xr_rm_teleop",
+        executable="act_episode_recorder",
+        name="act_episode_recorder",
+        output="screen",
+        prefix=[XR_PYTHON],
+        parameters=[_config_file("act_tomato_pick.yaml")],
+    )
+
+
 def _single_arm_node(
     arm: str,
     use_mock: bool,
@@ -164,10 +187,14 @@ def _launch_setup(context, *args, **kwargs):
     use_mujoco = _as_bool(
         LaunchConfiguration("use_mujoco").perform(context)
     )
+    record_act = _as_bool(
+        LaunchConfiguration("record_act").perform(context)
+    )
 
     if arm not in ("left", "right", "both"):
         raise ValueError("arm must be one of: left, right, both")
     _validate_mujoco_mode(arm, use_mujoco)
+    _validate_act_mode(arm, use_mock, record_act)
 
     nodes = [_udp_receiver_node()]
     if arm == "both":
@@ -176,6 +203,8 @@ def _launch_setup(context, *args, **kwargs):
         nodes.append(_single_arm_node(arm, use_mock))
     if use_mujoco:
         nodes.append(_mujoco_node())
+    if record_act:
+        nodes.append(_act_recorder_node())
     return nodes
 
 
@@ -187,6 +216,8 @@ def generate_launch_description() -> LaunchDescription:
         DeclareLaunchArgument("use_mock", default_value="true"),
         # true 时额外启动只读 MuJoCo 双臂显示，默认不改变现有启动行为。
         DeclareLaunchArgument("use_mujoco", default_value="false"),
+        # true 时只允许右臂真机，并启动独立 ACT 数据采集节点。
+        DeclareLaunchArgument("record_act", default_value="false"),
         # UDP 监听参数，需要与 PICO 端或 sample_udp_sender 保持一致。
         DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
         DeclareLaunchArgument("udp_port", default_value="15000"),