Refactor and enhance XR-RM teleoperation functionality

xr_rm_input/xr_rm_input/udp_controller_receiver.py

@@ -44,7 +44,7 @@ class UdpControllerReceiver(Node):
         self._quat_order = str(self.get_parameter("quat_order").value).lower()
 
         # UDP 接收使用非阻塞模式，避免没有手柄数据时卡住 ROS2 定时器。
-        self._publishers = {
+        self._controller_publishers = {
             "left": self.create_publisher(XrController, left_topic, 10),
             "right": self.create_publisher(XrController, right_topic, 10),
         }
@@ -78,7 +78,7 @@ class UdpControllerReceiver(Node):
                 except (KeyError, TypeError, ValueError) as exc:
                     self.get_logger().warn(f"XR 手柄字段错误：{exc}", throttle_duration_sec=1.0)
                     continue
-                self._publishers[msg.hand].publish(msg)
+                self._controller_publishers[msg.hand].publish(msg)
 
     def _iter_controller_payloads(self, payload: Any) -> Iterable[tuple[str, Mapping[str, Any]]]:
         if isinstance(payload, list):
@@ -214,9 +214,12 @@ def main(args: list[str] | None = None) -> None:
     node = UdpControllerReceiver()
     try:
         rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
     finally:
         node.destroy_node()
-        rclpy.shutdown()
+        if rclpy.ok():
+            rclpy.shutdown()
 
 
 if __name__ == "__main__":