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feat: Add XRobotoolkit UDP bridge functionality

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YikaiFu-cart
2026-06-24 21:18:18 +08:00
parent f4e0faf0bc
commit f0c955ae66
6 changed files with 474 additions and 548 deletions
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17
xr_rm_bringup/tools/launcher_ui.py
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@ -33,6 +33,8 @@ DEFAULT_RIGHT_IP = "192.168.192.19"
DEFAULT_PORT = "15000"
SAMPLE_SENDER_SECONDS = "30"
SAMPLE_SENDER_STAGGERED_SECONDS = "60"
XROBOTOOLKIT_BRIDGE_HZ = "90"
XROBOTOOLKIT_BRIDGE_EXECUTABLE = "xrobotoolkit_to_udp_bridge"
SAMPLE_SENDER_ARGS = (
f"--host 127.0.0.1 --port {DEFAULT_PORT} "
"--pattern axis_sweep --amplitude 0.5 "
@ -111,6 +113,13 @@ def _sample_udp_sender_command(
return command
def _xrobotoolkit_bridge_command() -> str:
return (
f"ros2 run xr_rm_input {XROBOTOOLKIT_BRIDGE_EXECUTABLE} "
f"--host 127.0.0.1 --port {DEFAULT_PORT} --hz {XROBOTOOLKIT_BRIDGE_HZ}"
)
def _tool_command(arm: str, open_tool: bool) -> str:
arm_name = "left_rm75" if arm == "left" else "right_rm75"
value = "true" if open_tool else "false"
@ -248,6 +257,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
("Left Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=true"),
("Right Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=true"),
("Dual Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true"),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
(
"Sample UDP Sender (Left, 30s)",
_sample_udp_sender_command("left"),
@ -282,6 +292,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
f"left_robot_ip:={DEFAULT_LEFT_IP} "
"move_to_initial_pose_on_connect:=false",
),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
("Left Tool Open", _tool_command("left", True)),
("Left Tool Close", _tool_command("left", False)),
(
@ -299,6 +310,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
f"right_robot_ip:={DEFAULT_RIGHT_IP} "
"move_to_initial_pose_on_connect:=false",
),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
("Right Tool Open", _tool_command("right", True)),
("Right Tool Close", _tool_command("right", False)),
(
@ -317,6 +329,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
f"left_robot_ip:={DEFAULT_LEFT_IP} right_robot_ip:={DEFAULT_RIGHT_IP} "
"move_to_initial_pose_on_connect:=false",
),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
(
"Sample UDP Sender (Both Staggered, 60s)",
_sample_udp_sender_command("both", SAMPLE_SENDER_STAGGERED_SECONDS, "staggered"),
@ -329,6 +342,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
("XR-RM Bringup Prefix", "ros2 pkg prefix xr_rm_bringup"),
("XR-RM Input Prefix", "ros2 pkg prefix xr_rm_input"),
("XR-RM Teleop Prefix", "ros2 pkg prefix xr_rm_teleop"),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
]
one_click = None
return _finalize_items(items, one_click)
@ -1277,7 +1291,7 @@ class LauncherApp:
def stop_launched_processes(self, *, confirm: bool, notify: bool) -> bool:
if confirm and not messagebox.askyesno(
"Confirm Stop",
"Stop XR-RM launcher terminals, topic monitors, and ROS nodes started from this workspace?",
"Stop XR-RM launcher terminals, topic monitors, ROS nodes, and bridge processes started from this workspace?",
):
return False
@ -1287,6 +1301,7 @@ class LauncherApp:
"ros2 run xr_rm_input",
"ros2 run xr_rm_teleop",
"XR_RM_LAUNCHER_SESSION=1",
XROBOTOOLKIT_BRIDGE_EXECUTABLE,
TERMINAL_TITLE_PREFIX,
TOPIC_MONITOR_TITLE,
CMD_VEL_MONITOR_TITLE,