38 lines
1.8 KiB
Python
Executable File
38 lines
1.8 KiB
Python
Executable File
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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arm_debug_launch = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"launch",
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"arm_debug.launch.py",
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])
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return LaunchDescription([
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DeclareLaunchArgument("arm", default_value="right"),
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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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DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
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# 兼容旧命令：robot_ip 仍作为右臂 IP 覆盖入口。
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DeclareLaunchArgument("robot_ip", default_value="192.168.192.19"),
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DeclareLaunchArgument("robot_port", default_value="8080"),
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DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(arm_debug_launch),
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launch_arguments={
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"arm": LaunchConfiguration("arm"),
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"use_mock": "false",
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"left_robot_ip": LaunchConfiguration("left_robot_ip"),
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"right_robot_ip": LaunchConfiguration("robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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"move_to_initial_pose_on_connect": LaunchConfiguration("move_to_initial_pose_on_connect"),
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}.items(),
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),
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])
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