feat: 接入番茄采摘ACT采集启动项

xr_rm_bringup/test/test_arm_debug_launch.py

@@ -41,3 +41,37 @@ def test_udp_receiver_exit_shuts_down_launch() -> None:
     receiver = arm_debug_launch._udp_receiver_node()
 
     assert isinstance(receiver._ExecuteLocal__on_exit, Shutdown)
+
+
+def test_act_recording_is_disabled_by_default() -> None:
+    description = arm_debug_launch.generate_launch_description()
+    arguments = {
+        entity.name: entity
+        for entity in description.entities
+        if isinstance(entity, DeclareLaunchArgument)
+    }
+
+    assert perform_substitutions(
+        LaunchContext(),
+        arguments["record_act"].default_value,
+    ) == "false"
+
+
+@pytest.mark.parametrize(
+    ("arm", "use_mock"),
+    [("left", False), ("both", False), ("right", True)],
+)
+def test_act_recording_rejects_unsupported_modes(arm, use_mock) -> None:
+    with pytest.raises(ValueError, match="arm:=right use_mock:=false"):
+        arm_debug_launch._validate_act_mode(arm, use_mock, True)
+
+
+def test_act_recording_accepts_right_real_mode() -> None:
+    arm_debug_launch._validate_act_mode("right", False, True)
+    arm_debug_launch._validate_act_mode("both", True, False)
+
+
+def test_act_recorder_exit_does_not_shutdown_teleoperation() -> None:
+    recorder = arm_debug_launch._act_recorder_node()
+
+    assert recorder._ExecuteLocal__on_exit is None