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feat: Add XRobotoolkit UDP bridge functionality

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@ -340,7 +340,7 @@ ros2 topic pub --once /xr_rm/right_rm75/tool_enable std_msgs/msg/Bool "{data: fa
- `pos`：手柄位置，长度 3。 - `pos`：手柄位置，长度 3。
- `quat`：手柄姿态四元数，默认按 `xyzw` 解析；遥操作节点会用 grip 锁定后的相对旋转控制 TCP 姿态。 - `quat`：手柄姿态四元数，默认按 `xyzw` 解析；遥操作节点会用 grip 锁定后的相对旋转控制 TCP 姿态。
- `pose_valid`：姿态是否可信。ROS 接收端看到 `false` 会强制 `grip=false`。 - `pose_valid`：姿态是否可信。ROS 接收端看到 `false` 会强制 `grip=false`。
- `pose_source`：`pxr_predict`、`unity_xr` 或 `none`，用于判断姿态来自 PICO 预测接口还是 Unity XR fallback。 - `pose_source`：`pxr_predict`、`unity_xr`、`xrobotoolkit` 或 `none`，用于判断姿态来自 PICO 预测接口、Unity XR fallback 还是官方 XRoboToolkit SDK bridge。
- `tracking_state` / `controller_status`：Unity/PICO 侧追踪诊断值，只用于日志和排查。 - `tracking_state` / `controller_status`：Unity/PICO 侧追踪诊断值，只用于日志和排查。
- `grip_value`、`axis`、`buttons`：PICO 端输入诊断字段，当前不会写入 `XrController` 消息。 - `grip_value`、`axis`、`buttons`：PICO 端输入诊断字段，当前不会写入 `XrController` 消息。
@ -348,6 +348,59 @@ ros2 topic pub --once /xr_rm/right_rm75/tool_enable std_msgs/msg/Bool "{data: fa
PICO 4 Ultra 在 Ubuntu 22.04 下配置 Unity、构建 APK、安装到头显并向 ROS2 主机发送 UDP 的详细步骤见 [docs/pico_udp_sender_ubuntu22_setup.md](docs/pico_udp_sender_ubuntu22_setup.md)。 PICO 4 Ultra 在 Ubuntu 22.04 下配置 Unity、构建 APK、安装到头显并向 ROS2 主机发送 UDP 的详细步骤见 [docs/pico_udp_sender_ubuntu22_setup.md](docs/pico_udp_sender_ubuntu22_setup.md)。
## 官方 XRoboToolkit bridge
如果使用官方 XRoboToolkit APK 和 PC-Service，可以用 `xrobotoolkit_to_udp_bridge` 从本机 ROS Python 环境中的 `xrobotoolkit_sdk` 读取左右手柄数据，再转换成当前 `udp_controller_receiver` 支持的 UDP JSON。
正式运行时不要同时启动官方 `PXREAClientUnity` / `RobotLinuxDemo` 可视化窗口。`/opt/apps/roboticsservice/run3D.sh` 会启动这个可视化 demo，适合单独确认 PICO 与 PC-Service 已连接；bridge 遥操作链路中只需要 PC-Service。
运行前只保留一个 UDP 输入源。先清掉重复 bridge、sample sender 和官方 Unity 可视化 demo，再保留或启动 PC-Service：
```bash
pkill -f '[x]robotoolkit_to_udp_bridge'
pkill -f '[s]ample_udp_sender'
pkill -f '[R]obotLinuxDemo.x86_64'
pkill -f '[P]XREAClientUnity'
pgrep -af RoboticsServiceProcess || /opt/apps/roboticsservice/runService.sh
```
启动 ROS mock 接收链路：
```bash
cd /home/robot/WS_xr
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true
```
另开终端启动 bridge：
```bash
cd /home/robot/WS_xr
source ~/.bashrc
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 run xr_rm_input xrobotoolkit_to_udp_bridge \
--host 127.0.0.1 --port 15000 --hz 90
```
bridge 默认对 grip/trigger 做轻量滞回：`grip` 按下阈值 `0.90`、松开阈值 `0.75`；`trigger` 按下阈值 `0.95`、松开阈值 `0.75`。启动日志会打印 PID、UDP endpoint 和阈值，便于确认当前只运行了一个 bridge。
验证手柄数据是否进入 ROS：
```bash
ps -ef | grep -E 'xrobotoolkit_to_udp_bridge|sample_udp_sender|RobotLinuxDemo|PXREAClientUnity' | grep -v grep
ros2 topic hz /xr/left_controller
ros2 topic hz /xr/right_controller
ros2 topic echo /xr/left_controller --field pose.position
ros2 topic echo /xr/right_controller --field pose.position
ros2 topic echo /xr/left_controller --field grip
ros2 topic echo /xr/right_controller --field grip
ros2 topic echo /xr/right_controller --field trigger
```
`/xr/left_controller` 和 `/xr/right_controller` 持续刷新、位置随手柄移动变化、`grip` 随握持键切换，即表示官方 XRoboToolkit 数据已经进入当前遥操作输入层。
## 真机安全验证 ## 真机安全验证
第一次接真机时按这个顺序走： 第一次接真机时按这个顺序走：

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@ -1,545 +0,0 @@
# Ubuntu 22.04 下 PICO 4 Ultra UDP Sender 配置教程
本文档只记录如何在 **Ubuntu 22.04** 下配置 Unity/PICO 4 Ultra，让头显把左右手柄数据通过 UDP 发给当前 ROS2 工作空间。
目标链路：
```text
PICO 4 Ultra 双手柄 6DoF pose / grip / trigger / pose 诊断
-> Unity Android APK
-> UDP JSON, 默认当前 ROS 主机 IP:15000，兜底 192.168.9.99:15000
-> xr_rm_input/udp_controller_receiver
-> /xr/left_controller 与 /xr/right_controller
```
## 1. 当前项目事实
- Unity 工程路径：`unity/XR_RM_PICO_UDP_Sender`
- Unity 版本：`2022.3.62f3c1`
- Unity Editor 路径：`/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity`
- PICO SDK 路径：`unity/PICO-Unity-Integration-SDK-release_3.4.0`
- PICO package 引用：`Packages/manifest.json` 中的 `file:../../PICO-Unity-Integration-SDK-release_3.4.0`
- Unity UI 依赖：`com.unity.textmeshpro`，运行面板使用预生成的 `Assets/Resources/Fonts/Roboto-Regular SDF.asset` 和 `Roboto-Bold SDF.asset`
- Android 包名：`com.local.xr_rm_udp_sender`
- 默认 UDP 目标：构建时优先使用 `XR_RM_UDP_TARGET_HOST`，否则自动选择本机局域网 IPv4，兜底 `192.168.9.99:15000`
- 默认发送频率：`90 Hz`
- APK 输出：`unity/XR_RM_PICO_UDP_Sender/Builds/XR-RM-PICO-UDP-Sender.apk`
PICO 端建议稳定发送 `90 Hz`，网络或性能不足时可降到 `60 Hz`，不要低于 `20 Hz`。ROS 遥操作节点默认 `command_timeout_sec=0.12`，超时会停止。
## 2. Ubuntu 22.04 环境准备
建议环境：
- Ubuntu 22.04 x86_64
- GNOME 桌面，优先 X11 会话
- Unity 2022.3 LTS
- Android Build Support、Android SDK & NDK Tools、OpenJDK
- ADB
检查当前图形会话：
```bash
echo $XDG_SESSION_TYPE
```
如果 Unity Editor 或 Hub 在 Wayland 下出现黑屏、鼠标偏移、构建窗口异常，注销后选择 `Ubuntu on Xorg`。
安装 Unity Hub：
```bash
sudo apt update
sudo apt install -y curl gpg ca-certificates
sudo install -d /etc/apt/keyrings
curl -fsSL https://hub.unity3d.com/linux/keys/public \
| sudo gpg --dearmor -o /etc/apt/keyrings/unityhub.gpg
echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/unityhub.gpg] https://hub.unity3d.com/linux/repos/deb stable main" \
| sudo tee /etc/apt/sources.list.d/unityhub.list
sudo apt update
sudo apt install -y unityhub
```
安装 ADB：
```bash
sudo apt update
sudo apt install -y android-tools-adb
adb version
```
在 Unity Hub 里安装 Unity 2022.3 LTS，并勾选：
- `Android Build Support`
- `Android SDK & NDK Tools`
- `OpenJDK`
优先使用 Unity 随 Editor 安装的 embedded Android SDK/NDK/JDK，不要混用系统 Android Studio 的工具链。
## 3. 准备 PICO 4 Ultra
在 PICO 4 Ultra 中：
1. 登录设备。
2. 开启开发者模式。
3. 开启 USB 调试。
4. 用 USB-C 线连接 Ubuntu 主机。
5. 在 Ubuntu 上执行：
```bash
adb devices
```
PICO 内会弹出 USB 调试授权，选择允许。再次执行：
```bash
adb devices
```
应看到类似：
```text
<device_serial> device
```
如果是 `unauthorized`，重新插拔 USB 并在 PICO 内确认授权，或执行：
```bash
adb kill-server
adb start-server
adb devices
```
## 4. 打开 Unity 工程
在 Unity Hub 中：
1. 点击 `Projects`。
2. 点击 `Add`。
3. 选择：
```text
/home/robot/WS_xr/src/unity/XR_RM_PICO_UDP_Sender
```
4. 用 Unity `2022.3.62f3c1` 或同系列 2022.3 LTS 打开。
5. 如果提示升级工程版本，先确认 git 状态再继续。
如果 Unity 打开后找不到 PICO package，检查：
```text
unity/XR_RM_PICO_UDP_Sender/Packages/manifest.json
../../PICO-Unity-Integration-SDK-release_3.4.0
```
该相对路径表示从 `unity/XR_RM_PICO_UDP_Sender/Packages` 往上两级到 `unity/`，再进入 `PICO-Unity-Integration-SDK-release_3.4.0`。
## 5. Android 构建设置
当前工程已提供菜单脚本：
```text
Assets/Editor/XrRmUdpSenderProjectSetup.cs
```
在 Unity Editor 菜单中依次执行：
```text
XR-RM -> Apply UDP Sender Android Settings
XR-RM -> Create Or Refresh UDP Sender Scene
XR-RM -> Build Android APK
```
这些菜单会配置或刷新：
- `Product Name = XR-RM-PICO-UDP-Sender`
- `Package Name = com.local.xr_rm_udp_sender`
- Android min SDK = API 29
- Android target SDK = Auto
- Internet permission = enabled
- Scripting Backend = IL2CPP
- Target Architectures = ARM64
- Graphics API = OpenGLES3
- XR Management Android loader = PICO `PXR_Loader`
- `Assets/Scenes/Main.unity`
- 场景中的 `PicoControllerUdpSender`、`PicoUdpConfigPanel` 和 `PicoKeepAwake`
- TextMeshPro UI、Roboto SDF 字体、Saved/Favorite IP 面板、PICO predicted pose 优先读取和 Unity XR fallback
也可以使用 batchmode 构建：
```bash
cd /home/robot/WS_xr/src
UNITY_EDITOR="/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity"
"$UNITY_EDITOR" \
-batchmode \
-quit \
-projectPath "$(pwd)/unity/XR_RM_PICO_UDP_Sender" \
-executeMethod XrRmUdpSenderProjectSetup.BuildAndroidApk \
-logFile "$(pwd)/unity_build.log"
```
如果要覆盖自动发现到的 UDP 目标 IP，可在构建命令前设置：
```bash
export XR_RM_UDP_TARGET_HOST=192.168.9.99
```
构建成功后 APK 位于：
```text
unity/XR_RM_PICO_UDP_Sender/Builds/XR-RM-PICO-UDP-Sender.apk
```
## 6. 安装 APK 到 PICO
确保 PICO 已 USB 连接且 `adb devices` 显示 `device`。
```bash
cd /home/robot/WS_xr/src
adb install -r unity/XR_RM_PICO_UDP_Sender/Builds/XR-RM-PICO-UDP-Sender.apk
```
看到 `Success` 表示安装完成。
检查包是否存在：
```bash
adb shell pm list packages | grep xr_rm
```
戴上 PICO：
1. 打开 `Library`。
2. 进入未知来源/开发者应用区域。
3. 打开 `XR-RM-PICO-UDP-Sender`。
## 7. 网络配置
PICO 和 Ubuntu ROS 主机必须在同一个局域网。
查看 Ubuntu 主机 IP：
```bash
hostname -I
ip -4 addr
```
假设 Ubuntu 主机 IP 是：
```text
192.168.9.99
```
则 PICO App 面板里使用：
| 配置项 | 推荐值 |
| --- | --- |
| `Target IP` | `192.168.9.99`，替换为当前 Ubuntu 主机 IP |
| `Target Port` | `15000` |
| `Saved IP` | 最近使用或收藏的 IP，可用摇杆左右切换 |
| `Favorite` | `ON` 表示当前 IP 已收藏 |
| `Send Rate` | 推荐 `90 Hz`，不稳定时用 `60 Hz` |
| `Coordinates` | `Project (+Z back)` |
| `UDP Sending` | `ON` |
如果 Ubuntu 开启了 UFW：
```bash
sudo ufw allow 15000/udp
sudo ufw status
```
## 8. PICO App 操作
面板操作：
- 摇杆上/下：选择行
- 摇杆左/右：选择 Saved IP、收藏当前 IP、调整端口/频率、切换坐标模式或发送开关
- Trigger / A / X：编辑当前行或触发当前行
- B / Y：保存并应用
- Menu：在配置面板和运行 HUD 之间切换
- Grip：ROS 侧遥操作使能；未按下时机械臂停止
验证现象：
- 面板中 `L valid pxr/unity` 或 `R valid pxr/unity` 表示 Unity 能读到对应手柄姿态；`invalid none` 表示该手柄姿态不可用。
- `UDP Sending ON` 后，ROS2 的 `/xr/left_controller` 与 `/xr/right_controller` 应持续刷新。
- HUD 显示包计数、发送端点、左右姿态状态和 KeepAwake 状态。
- `pose_valid=false` 时，ROS 接收端会强制该手柄 `grip=false`，即使 PICO 端按下了 Grip。
- 按住 `grip` 并移动或小角度转动手柄时，mock 模式下 `/xr_rm/*/target_pose` 应连续变化，`/xr_rm/*/cmd_vel` 会显示目标位姿变化率。
- 真机模式下，点击对应手柄 `trigger` 会切换并保持对应夹爪开/关状态。
- 松开 `grip` 后，机械臂慢停，`cmd_vel` 应回到零。
## 9. ROS2 端验证
先构建并 source 工作空间：
```bash
cd /home/robot/WS_xr
source /opt/ros/humble/setup.bash
colcon build --symlink-install
source install/setup.bash
```
只验证 UDP receiver：
```bash
ros2 launch xr_rm_input udp_receiver.launch.py udp_port:=15000
```
另开终端查看左右手柄：
```bash
cd /home/robot/WS_xr
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 topic echo /xr/left_controller
ros2 topic echo /xr/right_controller
ros2 topic hz /xr/left_controller
ros2 topic hz /xr/right_controller
```
期望现象：
- PICO 应用启动并打开 `UDP Sending ON` 后，两个 topic 都持续刷新。
- 按左手 `grip` 时，`/xr/left_controller` 的 `grip` 变成 `true`。
- 按右手 `grip` 时，`/xr/right_controller` 的 `grip` 变成 `true`。
- 扳机从松开到按下时，`trigger` 从 `0.0` 附近变到 `1.0` 附近。
- 单臂或双臂真机 launch 已启动时，对应手柄每次点击 `trigger` 都会切换并保持对应夹爪状态。
- 平移手柄时，`pose.position` 连续变化。
如果收不到包，先抓 UDP：
```bash
sudo tcpdump -ni any udp port 15000
```
能看到 UDP 但 ROS topic 没数据，说明 JSON 字段不符合协议。查看 `udp_controller_receiver` 终端里的格式错误提示。
## 10. Mock 闭环验证
先不要连接真机，使用 mock 模式验证完整链路。
终端 1：
```bash
cd /home/robot/WS_xr
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true udp_port:=15000
```
终端 2：
```bash
cd /home/robot/WS_xr
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 topic echo /xr_rm/left_rm75/cmd_vel
ros2 topic echo /xr_rm/right_rm75/cmd_vel
# 需要看实际位姿目标时另开终端：
ros2 topic echo /xr_rm/left_rm75/target_pose
ros2 topic echo /xr_rm/right_rm75/target_pose
```
流程：
1. 启动 PICO Unity 应用。
2. 确认 `/xr/left_controller` 和 `/xr/right_controller` 正常刷新。
3. 左手按住 `grip`，只移动左手一小段，观察 `/xr_rm/left_rm75/target_pose` 和 `/xr_rm/left_rm75/cmd_vel`。
4. 左手保持小角度转动，确认 `target_pose.pose.orientation` 和 `cmd_vel.twist.angular` 会变化。
5. 松开左手 `grip`，确认 `cmd_vel` 回到 0。
6. 右手重复同样流程。
7. 用 `ros2 topic hz` 确认频率稳定，建议接近 PICO 端配置的发送频率。
如果要排除 PICO 端问题，可用本机 sample sender 验证 ROS 端：
```bash
ros2 run xr_rm_input sample_udp_sender --hand both --host 127.0.0.1 --port 15000 \
--pattern axis_sweep --seconds 60 --both-mode staggered
```
`axis_sweep` 会按 `XR +X/-X/+Y/-Y/+Z/-Z` 打印方向标签。双手 `staggered` 模式先左后右，便于现场逐只确认映射。
如需同时验证姿态链路，可增加 `--rotation-pattern rpy_steps --rotation-amplitude-deg 25`。
## 11. UDP JSON 协议
Unity APK 每个周期发送一个双手柄 JSON 包：
```json
{
"t": 12.345,
"source_time": 12.345,
"seq": 42,
"frame_id": "xr_world",
"controllers": {
"left": {
"grip": true,
"trigger": 0.0,
"pos": [-0.12, 1.05, 0.30],
"quat": [0.0, 0.0, 0.0, 1.0],
"pose_valid": true,
"pose_source": "pxr_predict",
"tracking_state": 3,
"controller_status": 2,
"grip_value": 1.0,
"axis": [0.0, 0.0],
"buttons": {
"grip": true,
"primary": false,
"secondary": false,
"menu": false,
"axis_click": false
}
},
"right": {
"grip": true,
"trigger": 0.4,
"pos": [0.12, 1.05, 0.30],
"quat": [0.0, 0.0, 0.0, 1.0],
"pose_valid": true,
"pose_source": "unity_xr",
"tracking_state": 3,
"controller_status": -1,
"grip_value": 0.8,
"axis": [0.0, 0.0],
"buttons": {
"grip": true,
"primary": false,
"secondary": false,
"menu": false,
"axis_click": false
}
}
}
}
```
字段要求：
| 字段 | 类型 | 说明 |
| --- | --- | --- |
| `t` | number | `Time.realtimeSinceStartupAsDouble` |
| `source_time` | number | 当前同 `t`，预留给延迟统计 |
| `seq` | number | 发送端递增包序号，预留给丢包统计 |
| `frame_id` | string | 默认 `xr_world` |
| `controllers.left` | object | 左手柄 |
| `controllers.right` | object | 右手柄 |
| `grip` | bool | ROS 遥操作启停 |
| `trigger` | float | `0.0-1.0`；真机模式下跨过 `0.95` 的上升沿切换夹爪开/关状态 |
| `pos` | float[3] | `[x, y, z]` |
| `quat` | float[4] | `[qx, qy, qz, qw]`；ROS 遥操作节点会用相对旋转控制 TCP 姿态 |
| `pose_valid` | bool | 姿态有效性；`false` 时 ROS receiver 强制 `grip=false` |
| `pose_source` | string | `pxr_predict`、`unity_xr` 或 `none` |
| `tracking_state` | int | Unity XR tracking state 原始值 |
| `controller_status` | int | PICO controller status 原始值，Unity XR fallback 时为 `-1` |
| `grip_value` | float | Grip 模拟量，范围 `0.0-1.0` |
| `axis` | float[2] | 主摇杆二维轴 |
| `buttons` | object | `grip`、`primary`、`secondary`、`menu`、`axis_click` |
当前工程的 `Project (+Z back)` 坐标是 ROS 侧使用的统一项目坐标：
```csharp
project.x = native.z;
project.y = native.y;
project.z = -native.x;
```
这条转换只用于 `pose_source=pxr_predict` 且 `Coordinates=Project (+Z back)` 的情况。`Source raw` 模式保留 PXR native 或 Unity XR fallback 的原始坐标，便于现场对照；`unity_xr` fallback 暂不做 PXR native 转换，避免把已经由 Unity XR 提供的坐标二次转换。
禁用发送、App 暂停或退出时，必须额外发送一次左右手柄 `grip=false`，让 ROS 侧安全停止。
ROS 侧收到 `grip=false` 时不会主动打开或闭合夹爪，夹爪保持上一次状态。
`udp_controller_receiver` 仍兼容调试脚本的旧格式：单个 object 可以直接带 `hand`、`pos`、`quat`；`controllers` 可以是 object 或 list；位置字段也支持 `position`、`p`、`pose.position`，姿态字段支持 `orientation`、`q`。四元数默认按 `xyzw` 解析，也可用 `quat_order:=wxyz` 覆盖。
## 12. 坐标方向检查
当前 Project 输出使用下面的位置坐标：
```text
+X: 向右
+Y: 向上
+Z: 向后
```
PXR `pxr_predict` 原始坐标按现场实测通常表现为右移 `native.z+`、前伸 `native.x+`，所以 Unity 在 Project 模式中会输出 `project.x=native.z`、`project.z=-native.x`。如果切到 `Source raw`，应能看到原始 PXR 现象，用于确认当前到底是 PXR native 问题还是 ROS 侧映射问题。
双臂配置中的映射关系：
```text
左臂机器人位移增量 = [-手柄y, 手柄z, -手柄x]
右臂机器人位移增量 = [ 手柄y, 手柄z, 手柄x]
```
建议现场按下面顺序验证：
1. 只启动 `use_mock:=true`。
2. APK 中选择 `Project (+Z back)`，按住左手 `grip`，每次只沿右/左、上/下、前/后移动一个方向。
3. 记录 `/xr/left_controller.pose.position` 的变化方向。
4. 记录 `/xr_rm/left_rm75/target_pose` 的位置方向。
5. 小角度转动左手手柄，记录 `/xr/left_controller.pose.orientation` 与 `/xr_rm/left_rm75/target_pose.pose.orientation` 是否连续变化。
6. 右手重复。
如果两个手柄在 ROS topic 里的某个轴都反了，优先检查 Unity/PICO 发送到 `/xr/*_controller.pose.position` 的实际方向。如果 ROS topic 正确，但某一只机械臂运动方向不符合现场坐标，只改对应 YAML 的 `xr_to_robot_matrix`。
`Coordinates=Source raw` 只用于诊断，不建议用于正式遥操作。现场方向修正优先通过 ROS 侧 topic 观察定位：如果 `/xr/*_controller.pose.position` 已经符合 Project 坐标约定，就不要在 Unity 中继续临时改符号。
## 13. 真机前置检查
本文档只负责 PICO UDP 发送配置，但如果继续接真机，必须先确认：
- 急停可用。
- 机械臂工作区清空。
- PICO topic 在 mock 下已经稳定。
- `grip=false` 时机械臂慢停，`/xr_rm/<arm>/cmd_vel` 为 0。
- mock 下小角度转动手柄时，`/xr_rm/<arm>/cmd_vel.twist.angular` 有连续小幅变化。
- 夹爪验证时点击对应手柄 `trigger`，确认每次点击都会切换并保持开/关状态。
- `move_to_initial_pose_on_connect` 保持 `false`。
单臂真机：
```bash
ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false udp_port:=15000
ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false udp_port:=15000
```
双臂真机必须在左右单臂都验证通过后再启动：
```bash
ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
left_robot_ip:=192.168.192.18 \
right_robot_ip:=192.168.192.19 \
udp_port:=15000
```
## 14. 常见问题
| 现象 | 排查 |
| --- | --- |
| Unity 找不到 PICO package | 检查 `Packages/manifest.json` 的 `../../PICO-Unity-Integration-SDK-release_3.4.0` 路径 |
| Gradle 或 Android 构建失败 | 检查 Android Build Support、SDK/NDK/OpenJDK、IL2CPP、ARM64、Android Build Target 和 PICO SDK 编译错误 |
| PICO 安装失败或 `unauthorized` | 重新授权 USB 调试，执行 `adb kill-server && adb start-server && adb devices` |
| ROS2 收不到 UDP | 检查同一 Wi-Fi、Target IP、Target Port、UFW、`UDP Sending ON`、左右手柄是否 `valid pxr/unity` |
| tcpdump 有包但 topic 没数据 | JSON 字段不对，确认包含 `controllers.left/right`，且 `pos` 长度 3、`quat` 长度 4 |
| 有 topic 但机械臂不动 | 检查 `grip`、`pose_valid` 日志、teleop 节点订阅话题、工作空间限幅、UDP 超时 |
| trigger 不控制夹爪 | 确认是真机 launch、`enable_tool_control=true`，且 `trigger` 能从低值跨到 0.95 以上 |
| 按左手右臂动 | PICO 端 left/right 获取或填充反了 |
| 松开 grip 后仍有速度 | 确认 PICO 持续发送 `grip=false`，并检查 teleop 超时停止 |
| 经常超时 | 发送频率太低、网络丢包、PICO 应用后台暂停；提高 `sendHz` 并保持应用前台运行 |
| 前后方向反了 | 先看 `/xr/*_controller.pose.position` 是否符合 `+Z` 向后；topic 正确时修改对应 YAML 的 `xr_to_robot_matrix` |
| 某一只臂方向反了 | 修改对应 YAML 的 `xr_to_robot_matrix` |
## 15. 参考链接
- Unity Hub Linux 安装文档：`https://docs.unity.com/en-us/hub/install-hub-linux`
- Unity 2022.3 系统要求：`https://docs.unity.cn/Documentation/Manual/system-requirements.html`
- PICO 4 Ultra 开发资源：`https://developer.picoxr.com/pico4-ultra/`
- PICO Unity Integration SDK：`https://github.com/Pico-Developer/PICO-Unity-Integration-SDK`
- PICO Controller & HMD input mapping：`https://developer-cn.picoxr.com/en/document/unity/input-mapping/`
- Unity XR `InputDevice.TryGetFeatureValue`：`https://docs.unity3d.com/ScriptReference/XR.InputDevice.TryGetFeatureValue.html`
- Unity XR `CommonUsages`：`https://docs.unity3d.com/ScriptReference/XR.CommonUsages.html`

17
xr_rm_bringup/tools/launcher_ui.py
View File

@ -33,6 +33,8 @@ DEFAULT_RIGHT_IP = "192.168.192.19"
DEFAULT_PORT = "15000" DEFAULT_PORT = "15000"
SAMPLE_SENDER_SECONDS = "30" SAMPLE_SENDER_SECONDS = "30"
SAMPLE_SENDER_STAGGERED_SECONDS = "60" SAMPLE_SENDER_STAGGERED_SECONDS = "60"
XROBOTOOLKIT_BRIDGE_HZ = "90"
XROBOTOOLKIT_BRIDGE_EXECUTABLE = "xrobotoolkit_to_udp_bridge"
SAMPLE_SENDER_ARGS = ( SAMPLE_SENDER_ARGS = (
f"--host 127.0.0.1 --port {DEFAULT_PORT} " f"--host 127.0.0.1 --port {DEFAULT_PORT} "
"--pattern axis_sweep --amplitude 0.5 " "--pattern axis_sweep --amplitude 0.5 "
@ -111,6 +113,13 @@ def _sample_udp_sender_command(
return 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: def _tool_command(arm: str, open_tool: bool) -> str:
arm_name = "left_rm75" if arm == "left" else "right_rm75" arm_name = "left_rm75" if arm == "left" else "right_rm75"
value = "true" if open_tool else "false" 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"), ("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"), ("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"), ("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 (Left, 30s)",
_sample_udp_sender_command("left"), _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} " f"left_robot_ip:={DEFAULT_LEFT_IP} "
"move_to_initial_pose_on_connect:=false", "move_to_initial_pose_on_connect:=false",
), ),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
("Left Tool Open", _tool_command("left", True)), ("Left Tool Open", _tool_command("left", True)),
("Left Tool Close", _tool_command("left", False)), ("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} " f"right_robot_ip:={DEFAULT_RIGHT_IP} "
"move_to_initial_pose_on_connect:=false", "move_to_initial_pose_on_connect:=false",
), ),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
("Right Tool Open", _tool_command("right", True)), ("Right Tool Open", _tool_command("right", True)),
("Right Tool Close", _tool_command("right", False)), ("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} " f"left_robot_ip:={DEFAULT_LEFT_IP} right_robot_ip:={DEFAULT_RIGHT_IP} "
"move_to_initial_pose_on_connect:=false", "move_to_initial_pose_on_connect:=false",
), ),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
( (
"Sample UDP Sender (Both Staggered, 60s)", "Sample UDP Sender (Both Staggered, 60s)",
_sample_udp_sender_command("both", SAMPLE_SENDER_STAGGERED_SECONDS, "staggered"), _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 Bringup Prefix", "ros2 pkg prefix xr_rm_bringup"),
("XR-RM Input Prefix", "ros2 pkg prefix xr_rm_input"), ("XR-RM Input Prefix", "ros2 pkg prefix xr_rm_input"),
("XR-RM Teleop Prefix", "ros2 pkg prefix xr_rm_teleop"), ("XR-RM Teleop Prefix", "ros2 pkg prefix xr_rm_teleop"),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
] ]
one_click = None one_click = None
return _finalize_items(items, one_click) return _finalize_items(items, one_click)
@ -1277,7 +1291,7 @@ class LauncherApp:
def stop_launched_processes(self, *, confirm: bool, notify: bool) -> bool: def stop_launched_processes(self, *, confirm: bool, notify: bool) -> bool:
if confirm and not messagebox.askyesno( if confirm and not messagebox.askyesno(
"Confirm Stop", "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 return False
@ -1287,6 +1301,7 @@ class LauncherApp:
"ros2 run xr_rm_input", "ros2 run xr_rm_input",
"ros2 run xr_rm_teleop", "ros2 run xr_rm_teleop",
"XR_RM_LAUNCHER_SESSION=1", "XR_RM_LAUNCHER_SESSION=1",
XROBOTOOLKIT_BRIDGE_EXECUTABLE,
TERMINAL_TITLE_PREFIX, TERMINAL_TITLE_PREFIX,
TOPIC_MONITOR_TITLE, TOPIC_MONITOR_TITLE,
CMD_VEL_MONITOR_TITLE, CMD_VEL_MONITOR_TITLE,

1
xr_rm_input/setup.py
View File

@ -29,6 +29,7 @@ setup(
"console_scripts": [ "console_scripts": [
"udp_controller_receiver = xr_rm_input.udp_controller_receiver:main", "udp_controller_receiver = xr_rm_input.udp_controller_receiver:main",
"sample_udp_sender = xr_rm_input.sample_udp_sender:main", "sample_udp_sender = xr_rm_input.sample_udp_sender:main",
"xrobotoolkit_to_udp_bridge = xr_rm_input.xrobotoolkit_to_udp_bridge:main",
], ],
}, },
) )

2
xr_rm_input/xr_rm_input/udp_controller_receiver.py
View File

@ -18,7 +18,7 @@ from xr_rm_interfaces.msg import XrController
class UdpControllerReceiver(Node): class UdpControllerReceiver(Node):
"""将轻量级 XR UDP 数据包转换成 ROS2 左/右手柄消息。""" """将轻量级 XR UDP 数据包转换成 ROS2 左/右手柄消息。"""
_VALID_POSE_SOURCES = {"pxr_predict", "unity_xr", "none"} _VALID_POSE_SOURCES = {"pxr_predict", "unity_xr", "xrobotoolkit", "none"}
def __init__(self) -> None: def __init__(self) -> None:
super().__init__("udp_controller_receiver") super().__init__("udp_controller_receiver")

402
xr_rm_input/xr_rm_input/xrobotoolkit_to_udp_bridge.py Normal file
View File

@ -0,0 +1,402 @@
"""XRoboToolkit SDK 到当前 UDP controller JSON 协议的桥接脚本。
该脚本运行在安装了 `xrobotoolkit_sdk` 的 Python 环境中，从官方
XRoboToolkit PC-Service SDK 读取 PICO 左右手柄 pose / grip / trigger，
再发送现有 `udp_controller_receiver` 已兼容的 UDP JSON 包。
"""
import argparse
import json
import math
import os
import socket
import sys
import time
from collections.abc import Callable, Sequence
from typing import Any
IDENTITY_QUAT = [0.0, 0.0, 0.0, 1.0]
ZERO_POS = [0.0, 0.0, 0.0]
POSE_SOURCE = "xrobotoolkit"
def _positive_float(name: str) -> Callable[[str], float]:
def parser(value: str) -> float:
number = float(value)
if number <= 0.0:
raise argparse.ArgumentTypeError(f"{name} must be > 0")
return number
return parser
def _non_negative_int(name: str) -> Callable[[str], int]:
def parser(value: str) -> int:
number = int(value)
if number < 0:
raise argparse.ArgumentTypeError(f"{name} must be >= 0")
return number
return parser
def _clamp_float(value: Any, low: float, high: float) -> float:
number = float(value)
return min(max(number, low), high)
class _HysteresisSwitch:
def __init__(self, *, press_threshold: float, release_threshold: float) -> None:
self.press_threshold = press_threshold
self.release_threshold = release_threshold
self.pressed = False
def update(self, value: Any) -> bool:
analog = _clamp_float(value, 0.0, 1.0)
if self.pressed:
if analog <= self.release_threshold:
self.pressed = False
elif analog >= self.press_threshold:
self.pressed = True
return self.pressed
def _pose_to_pos_quat(pose: Any) -> tuple[list[float], list[float]]:
values = list(pose)
if len(values) != 7:
raise ValueError(f"expected XRoboToolkit pose with 7 values, got {len(values)}")
numbers = [float(value) for value in values]
if not all(math.isfinite(value) for value in numbers):
raise ValueError(f"pose contains non-finite values: {numbers!r}")
return numbers[:3], numbers[3:7]
def _safe_axis(value: Any) -> list[float]:
try:
axis = [float(item) for item in list(value)]
except (TypeError, ValueError):
return [0.0, 0.0]
if len(axis) < 2:
return [0.0, 0.0]
return [_clamp_float(axis[0], -1.0, 1.0), _clamp_float(axis[1], -1.0, 1.0)]
def _safe_bool(func: Callable[[], Any], default: bool = False) -> bool:
try:
return bool(func())
except Exception:
return default
def _controller_payload(
*,
hand: str,
pose: Any,
grip_value: Any,
trigger_value: Any,
axis: Any,
buttons: dict[str, bool],
grip_pressed: bool,
trigger_pressed: bool,
pose_valid: bool = True,
) -> dict[str, Any]:
pos, quat = _pose_to_pos_quat(pose) if pose_valid else (ZERO_POS.copy(), IDENTITY_QUAT.copy())
grip_float = _clamp_float(grip_value, 0.0, 1.0)
trigger_float = _clamp_float(trigger_value, 0.0, 1.0)
return {
"hand": hand,
"grip": pose_valid and grip_pressed,
"trigger": 1.0 if pose_valid and trigger_pressed else 0.0,
"pos": pos,
"quat": quat,
"pose_valid": pose_valid,
"pose_source": POSE_SOURCE,
"grip_value": grip_float,
"trigger_value": trigger_float,
"axis": _safe_axis(axis),
"buttons": buttons,
}
def _stop_controller_payload(hand: str) -> dict[str, Any]:
return {
"hand": hand,
"grip": False,
"trigger": 0.0,
"pos": ZERO_POS.copy(),
"quat": IDENTITY_QUAT.copy(),
"pose_valid": False,
"pose_source": POSE_SOURCE,
"grip_value": 0.0,
"trigger_value": 0.0,
"axis": [0.0, 0.0],
"buttons": {
"grip": False,
"primary": False,
"secondary": False,
"menu": False,
"axis_click": False,
},
}
def _packet(seq: int, frame_id: str, controllers: dict[str, dict[str, Any]]) -> dict[str, Any]:
now = time.monotonic()
return {
"t": now,
"source_time": now,
"seq": seq,
"frame_id": frame_id,
"controllers": controllers,
}
def _send_packet(sock: socket.socket, host: str, port: int, payload: dict[str, Any]) -> None:
sock.sendto(json.dumps(payload, separators=(",", ":")).encode("utf-8"), (host, port))
def _send_stop_packets(
sock: socket.socket,
*,
host: str,
port: int,
frame_id: str,
seq: int,
count: int,
interval_sec: float,
) -> int:
controllers = {
"left": _stop_controller_payload("left"),
"right": _stop_controller_payload("right"),
}
for _ in range(count):
seq += 1
_send_packet(sock, host, port, _packet(seq, frame_id, controllers))
if interval_sec > 0.0:
time.sleep(interval_sec)
return seq
def _buttons_payload(
*,
grip: bool,
primary: Callable[[], Any],
secondary: Callable[[], Any],
menu: Callable[[], Any],
axis_click: Callable[[], Any],
) -> dict[str, bool]:
return {
"grip": grip,
"primary": _safe_bool(primary),
"secondary": _safe_bool(secondary),
"menu": _safe_bool(menu),
"axis_click": _safe_bool(axis_click),
}
def _parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace:
parser = argparse.ArgumentParser(
description="Read PICO controller state from xrobotoolkit_sdk and send UDP JSON packets."
)
parser.add_argument("--host", default="127.0.0.1", help="UDP receiver host.")
parser.add_argument("--port", type=int, default=15000, help="UDP receiver port.")
parser.add_argument("--hz", type=_positive_float("hz"), default=90.0, help="Send rate in Hz.")
parser.add_argument(
"--grip-threshold",
type=float,
default=0.9,
help="Grip analog press threshold used to set the stable boolean grip field.",
)
parser.add_argument(
"--grip-release-threshold",
type=float,
default=0.75,
help="Grip analog release threshold. Must be <= --grip-threshold.",
)
parser.add_argument(
"--trigger-threshold",
type=float,
default=0.95,
help="Trigger analog press threshold used to set the stable trigger field to 1.0.",
)
parser.add_argument(
"--trigger-release-threshold",
type=float,
default=0.75,
help="Trigger analog release threshold. Must be <= --trigger-threshold.",
)
parser.add_argument("--frame-id", default="xr_world", help="frame_id written into UDP packets.")
parser.add_argument(
"--stop-packets",
type=_non_negative_int("stop-packets"),
default=5,
help="Number of all-stop packets sent on shutdown or SDK read failure.",
)
return parser.parse_args(argv)
def _import_xrobotoolkit_sdk():
try:
import xrobotoolkit_sdk as xrt # type: ignore[import-not-found]
except ImportError as exc:
message = (
"Failed to import xrobotoolkit_sdk. Install the XRoboToolkit SDK into "
"the ROS Python environment and set LD_LIBRARY_PATH, for example:\n"
" export LD_LIBRARY_PATH=/opt/apps/roboticsservice/SDK/x64:${LD_LIBRARY_PATH:-}\n"
" ros2 run xr_rm_input xrobotoolkit_to_udp_bridge"
)
raise RuntimeError(message) from exc
return xrt
def _validate_threshold_pair(parser_name: str, press: float, release: float) -> None:
if release > press:
raise ValueError(
f"{parser_name} release threshold ({release:.2f}) must be <= press threshold ({press:.2f})"
)
def main(argv: Sequence[str] | None = None) -> None:
args = _parse_args(argv)
args.grip_threshold = _clamp_float(args.grip_threshold, 0.0, 1.0)
args.grip_release_threshold = _clamp_float(args.grip_release_threshold, 0.0, 1.0)
args.trigger_threshold = _clamp_float(args.trigger_threshold, 0.0, 1.0)
args.trigger_release_threshold = _clamp_float(args.trigger_release_threshold, 0.0, 1.0)
_validate_threshold_pair("grip", args.grip_threshold, args.grip_release_threshold)
_validate_threshold_pair("trigger", args.trigger_threshold, args.trigger_release_threshold)
grip_switches = {
"left": _HysteresisSwitch(
press_threshold=args.grip_threshold,
release_threshold=args.grip_release_threshold,
),
"right": _HysteresisSwitch(
press_threshold=args.grip_threshold,
release_threshold=args.grip_release_threshold,
),
}
trigger_switches = {
"left": _HysteresisSwitch(
press_threshold=args.trigger_threshold,
release_threshold=args.trigger_release_threshold,
),
"right": _HysteresisSwitch(
press_threshold=args.trigger_threshold,
release_threshold=args.trigger_release_threshold,
),
}
stop_interval_sec = min(1.0 / args.hz, 0.02)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
seq = 0
xrt = _import_xrobotoolkit_sdk()
sdk_initialized = False
try:
xrt.init()
sdk_initialized = True
print(
"XRoboToolkit UDP bridge started: "
f"pid={os.getpid()}, endpoint={args.host}:{args.port}, hz={args.hz:.1f}, "
f"grip={args.grip_threshold:.2f}/{args.grip_release_threshold:.2f}, "
f"trigger={args.trigger_threshold:.2f}/{args.trigger_release_threshold:.2f}",
flush=True,
)
dt = 1.0 / args.hz
next_tick = time.monotonic()
while True:
try:
left_grip_value = xrt.get_left_grip()
right_grip_value = xrt.get_right_grip()
left_trigger_value = xrt.get_left_trigger()
right_trigger_value = xrt.get_right_trigger()
left_grip = grip_switches["left"].update(left_grip_value)
right_grip = grip_switches["right"].update(right_grip_value)
left_trigger = trigger_switches["left"].update(left_trigger_value)
right_trigger = trigger_switches["right"].update(right_trigger_value)
controllers = {
"left": _controller_payload(
hand="left",
pose=xrt.get_left_controller_pose(),
grip_value=left_grip_value,
trigger_value=left_trigger_value,
axis=xrt.get_left_axis(),
buttons=_buttons_payload(
grip=left_grip,
primary=xrt.get_X_button,
secondary=xrt.get_Y_button,
menu=xrt.get_left_menu_button,
axis_click=xrt.get_left_axis_click,
),
grip_pressed=left_grip,
trigger_pressed=left_trigger,
),
"right": _controller_payload(
hand="right",
pose=xrt.get_right_controller_pose(),
grip_value=right_grip_value,
trigger_value=right_trigger_value,
axis=xrt.get_right_axis(),
buttons=_buttons_payload(
grip=right_grip,
primary=xrt.get_A_button,
secondary=xrt.get_B_button,
menu=xrt.get_right_menu_button,
axis_click=xrt.get_right_axis_click,
),
grip_pressed=right_grip,
trigger_pressed=right_trigger,
),
}
except Exception:
print(
"XRoboToolkit SDK read failed; sending stop packets.",
file=sys.stderr,
flush=True,
)
seq = _send_stop_packets(
sock,
host=args.host,
port=args.port,
frame_id=args.frame_id,
seq=seq,
count=args.stop_packets,
interval_sec=stop_interval_sec,
)
raise
seq += 1
_send_packet(sock, args.host, args.port, _packet(seq, args.frame_id, controllers))
next_tick += dt
sleep_sec = next_tick - time.monotonic()
if sleep_sec > 0.0:
time.sleep(sleep_sec)
else:
next_tick = time.monotonic()
except KeyboardInterrupt:
print("XRoboToolkit UDP bridge interrupted; sending stop packets.", flush=True)
finally:
seq = _send_stop_packets(
sock,
host=args.host,
port=args.port,
frame_id=args.frame_id,
seq=seq,
count=args.stop_packets,
interval_sec=stop_interval_sec,
)
if sdk_initialized:
try:
xrt.close()
except Exception as exc:
print(f"XRoboToolkit SDK close failed: {exc}", file=sys.stderr, flush=True)
sock.close()
print(f"XRoboToolkit UDP bridge stopped at seq={seq}.", flush=True)
if __name__ == "__main__":
main()