feat: 接入番茄采摘ACT采集启动项

xr_rm_bringup/config/act_tomato_pick.yaml

@@ -0,0 +1,33 @@
+act_episode_recorder:
+  ros__parameters:
+    output_root: /home/robot/ACT_Data
+    task_name: tomato_pick
+    control_sample_topic: /xr_rm/right_rm75/act_control_sample
+    right_controller_topic: /xr/right_controller
+    left_controller_topic: /xr/left_controller
+    status_topic: /act/recording_status
+
+    cam_high_serial: "234222303366"
+    cam_high_model: D455
+    cam_right_wrist_serial: "412622272532"
+    cam_right_wrist_model: D405
+    image_width: 640
+    image_height: 480
+    camera_fps: 30
+    camera_warmup_sec: 5.0
+
+    control_rate_hz: 90.0
+    sample_rate_hz: 30.0
+    min_samples: 60
+    max_samples: 1800
+    min_control_hz: 27.0
+    max_control_gap_ms: 100.0
+    min_camera_fps: 27.0
+    max_drop_ratio: 0.01
+    max_feedback_age_ms: 50.0
+    max_camera_age_ms: 50.0
+    max_camera_skew_ms: 50.0
+    min_free_space_gib: 4.0
+    y_hold_sec: 1.0
+    gripper_completion_timeout_sec: 3.0
+    writer_queue_size: 8

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"),

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