refactor launch_ui.py and update README.md

xr_rm_teleop/setup.py

@@ -1,7 +1,6 @@
 """xr_rm_teleop 包安装配置。
 
-该包提供基于 XR 相对位移的 RM75 笛卡尔速度遥操作节点，以及把
-手柄 trigger 映射到夹爪力控命令的桥接节点。
+该包提供基于 XR 相对位移的 RM75 笛卡尔速度遥操作节点。
 """
 
 from setuptools import setup
@@ -25,7 +24,6 @@ setup(
     tests_require=["pytest"],
     entry_points={
         "console_scripts": [
-            "gripper_trigger_bridge = xr_rm_teleop.gripper_trigger_bridge:main",
             "single_arm_velocity_teleop = xr_rm_teleop.single_arm_velocity_teleop:main",
         ],
     },

xr_rm_teleop/xr_rm_teleop/gripper_trigger_bridge.py

@@ -1,119 +0,0 @@
-"""手柄 trigger 到夹爪力控指令的桥接节点。
-
-订阅 XR 手柄消息，将 trigger 压力映射为 OmniPicker 可使用的归一化
-闭合力比例，并在消息超时或未握持时自动回到开爪指令。
-"""
-
-from __future__ import annotations
-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import Float32
-
-from xr_rm_interfaces.msg import XrController
-
-
-def _clamp(value: float, low: float, high: float) -> float:
-    return min(max(value, low), high)
-
-
-class GripperTriggerBridge(Node):
-    """将 PICO 扳机键映射为 OmniPicker 可订阅的归一化力控指令。"""
-
-    def __init__(self) -> None:
-        super().__init__("gripper_trigger_bridge")
-
-        self.declare_parameter("controller_topic", "/xr/right_controller")
-        self.declare_parameter("command_topic", "/omnipicker/right/force_ratio")
-        self.declare_parameter("publish_rate_hz", 30.0)
-        self.declare_parameter("stale_timeout_sec", 0.25)
-        self.declare_parameter("require_grip", True)
-        # 扳机键输入小于死区时保持开爪，避免手柄轻微误触导致夹爪闭合。
-        self.declare_parameter("trigger_deadband", 0.05)
-        self.declare_parameter("open_command", 0.0)
-        # 阶段一以保护番茄为先，闭合力控上限应从低值开始实测。
-        self.declare_parameter("min_close_command", 0.15)
-        self.declare_parameter("max_close_command", 0.45)
-        self.declare_parameter("low_pass_alpha", 0.5)
-
-        controller_topic = str(self.get_parameter("controller_topic").value)
-        command_topic = str(self.get_parameter("command_topic").value)
-        publish_rate_hz = float(self.get_parameter("publish_rate_hz").value)
-
-        self._stale_timeout_sec = float(self.get_parameter("stale_timeout_sec").value)
-        self._require_grip = bool(self.get_parameter("require_grip").value)
-        self._trigger_deadband = float(self.get_parameter("trigger_deadband").value)
-        self._open_command = float(self.get_parameter("open_command").value)
-        self._min_close_command = float(self.get_parameter("min_close_command").value)
-        self._max_close_command = float(self.get_parameter("max_close_command").value)
-        self._low_pass_alpha = float(self.get_parameter("low_pass_alpha").value)
-        self._validate_parameters()
-
-        self._last_msg: XrController | None = None
-        self._last_msg_time = None
-        self._filtered_command = self._open_command
-
-        self._publisher = self.create_publisher(Float32, command_topic, 10)
-        self.create_subscription(XrController, controller_topic, self._on_controller, 10)
-        self.create_timer(1.0 / publish_rate_hz, self._publish_command)
-
-        self.get_logger().info(
-            f"夹爪 trigger 桥接已启动：{controller_topic} -> {command_topic}"
-        )
-
-    def _on_controller(self, msg: XrController) -> None:
-        self._last_msg = msg
-        self._last_msg_time = self.get_clock().now()
-
-    def _publish_command(self) -> None:
-        command = self._open_command
-
-        # 手柄消息超时后立即退回开爪，避免夹爪在通信中断时保持闭合力。
-        if self._last_msg is not None and self._last_msg_time is not None:
-            age = (self.get_clock().now() - self._last_msg_time).nanoseconds * 1e-9
-            if age <= self._stale_timeout_sec:
-                command = self._command_from_trigger(self._last_msg)
-
-        # 对夹爪指令做一阶平滑，避免扳机键抖动直接传到力控命令。
-        alpha = self._low_pass_alpha
-        self._filtered_command = alpha * command + (1.0 - alpha) * self._filtered_command
-        msg = Float32()
-        msg.data = float(self._filtered_command)
-        self._publisher.publish(msg)
-
-    def _command_from_trigger(self, msg: XrController) -> float:
-        if self._require_grip and not msg.grip:
-            return self._open_command
-
-        trigger = _clamp(float(msg.trigger), 0.0, 1.0)
-        if trigger <= self._trigger_deadband:
-            return self._open_command
-
-        ratio = (trigger - self._trigger_deadband) / (1.0 - self._trigger_deadband)
-        return self._min_close_command + ratio * (self._max_close_command - self._min_close_command)
-
-    def _validate_parameters(self) -> None:
-        if not 0.0 <= self._trigger_deadband < 1.0:
-            raise ValueError("trigger_deadband must be in [0, 1)")
-        if self._min_close_command < self._open_command:
-            raise ValueError("min_close_command must be >= open_command")
-        if self._max_close_command < self._min_close_command:
-            raise ValueError("max_close_command must be >= min_close_command")
-        if not 0.0 <= self._low_pass_alpha <= 1.0:
-            raise ValueError("low_pass_alpha must be in [0, 1]")
-
-
-def main(args: list[str] | None = None) -> None:
-    rclpy.init(args=args)
-    node = GripperTriggerBridge()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()