fix: 阻止重复遥操作节点继续运行

xr_rm_bringup/launch/arm_debug.launch.py

@@ -8,7 +8,7 @@
 from pathlib import Path
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
@@ -47,6 +47,9 @@ def _udp_receiver_node() -> Node:
         executable="udp_controller_receiver",
         name="udp_controller_receiver",
         output="screen",
+        on_exit=Shutdown(
+            reason="XR UDP receiver exited; stopping arm_debug launch"
+        ),
         parameters=[{
             "udp_host": LaunchConfiguration("udp_host"),
             "udp_port": LaunchConfiguration("udp_port"),

xr_rm_bringup/test/test_arm_debug_launch.py

@@ -3,7 +3,7 @@ from pathlib import Path
 
 import pytest
 from launch import LaunchContext
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, Shutdown
 from launch.utilities import perform_substitutions
 
 
@@ -35,3 +35,9 @@ def test_mujoco_mode_requires_both_arms() -> None:
 
     with pytest.raises(ValueError, match="arm:=both"):
         arm_debug_launch._validate_mujoco_mode("left", True)
+
+
+def test_udp_receiver_exit_shuts_down_launch() -> None:
+    receiver = arm_debug_launch._udp_receiver_node()
+
+    assert isinstance(receiver._ExecuteLocal__on_exit, Shutdown)