34 lines
1.4 KiB
Python
Executable File
34 lines
1.4 KiB
Python
Executable File
"""XR 手柄 UDP 接收节点的独立启动入口。
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该 launch 文件只启动 `udp_controller_receiver`，用于低层通信调试：确认 PICO
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或 sample_udp_sender 发出的 UDP JSON 能被 ROS2 接收，并发布到指定手柄话题。
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完整单臂/双臂遥操作请优先使用 xr_rm_bringup 中的 launch 文件。
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description() -> LaunchDescription:
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return LaunchDescription([
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# UDP 监听地址和端口，需要与发送端配置一致。
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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# 兼容旧版单手柄调试入口；双臂调试会使用 left_topic/right_topic。
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DeclareLaunchArgument("topic", default_value="/xr/right_controller"),
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# 仅启动 UDP 接收节点，不启动任何机械臂控制节点。
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"topic": LaunchConfiguration("topic"),
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}],
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),
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])
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