ZhengLiu-cart/acRealman_xr_from_Yikai
1
0
Fork 0
forked from YikaiFu-cart/acRealman_xr
Code Pull Requests Activity

Add configuration files and launch scripts for left and right arm RM75 teleoperation

Browse Source
This commit is contained in:
YikaiFu-cart
2026-05-21 17:25:59 +08:00
parent 5a48619599
commit 4dea1ae530
16 changed files with 1576 additions and 122 deletions
Download Patch File Download Diff File Expand all files Collapse all files

121
xr_rm_bringup/launch/arm_debug.launch.py Normal file
View File

@ -0,0 +1,121 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def _as_bool(value: str) -> bool:
return value.strip().lower() in ("1", "true", "yes", "on")
def _config_file(name: str) -> PathJoinSubstitution:
return PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"config",
name,
])
def _udp_receiver_node() -> Node:
return Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
parameters=[{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"left_topic": "/xr/left_controller",
"right_topic": "/xr/right_controller",
}],
)
def _single_arm_node(arm: str, use_mock: bool, move_to_initial_pose: bool) -> Node:
config_name = "left_arm_rm75.yaml" if arm == "left" else "right_arm_rm75.yaml"
robot_ip = LaunchConfiguration("left_robot_ip" if arm == "left" else "right_robot_ip")
return Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="single_arm_velocity_teleop",
output="screen",
parameters=[
_config_file(config_name),
{
"use_mock": use_mock,
"robot_ip": robot_ip,
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": move_to_initial_pose,
},
],
)
def _dual_arm_nodes(use_mock: bool, move_to_initial_pose: bool) -> list[Node]:
config_file = _config_file("dual_arm_rm75.yaml")
return [
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="left_arm_teleop",
output="screen",
parameters=[
config_file,
{
"use_mock": use_mock,
"robot_ip": LaunchConfiguration("left_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": move_to_initial_pose,
},
],
),
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="right_arm_teleop",
output="screen",
parameters=[
config_file,
{
"use_mock": use_mock,
"robot_ip": LaunchConfiguration("right_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": move_to_initial_pose,
},
],
),
]
def _launch_setup(context, *args, **kwargs):
del args, kwargs
arm = LaunchConfiguration("arm").perform(context).strip().lower()
use_mock = _as_bool(LaunchConfiguration("use_mock").perform(context))
move_to_initial_pose = _as_bool(
LaunchConfiguration("move_to_initial_pose_on_connect").perform(context)
)
if arm not in ("left", "right", "both"):
raise ValueError("arm must be one of: left, right, both")
nodes = [_udp_receiver_node()]
if arm == "both":
nodes.extend(_dual_arm_nodes(use_mock, move_to_initial_pose))
else:
nodes.append(_single_arm_node(arm, use_mock, move_to_initial_pose))
return nodes
def generate_launch_description() -> LaunchDescription:
return LaunchDescription([
DeclareLaunchArgument("arm", default_value="right"),
DeclareLaunchArgument("use_mock", default_value="true"),
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
OpaqueFunction(function=_launch_setup),
])

18
xr_rm_bringup/launch/dual_arm_mock.launch.py
View File

@ -1,5 +1,6 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
@ -9,18 +10,23 @@ def generate_launch_description() -> LaunchDescription:
config_file = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"config",
"dual_arm_rm75.yaml",
LaunchConfiguration("robot_config"),
])
return LaunchDescription([
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
DeclareLaunchArgument("run_udp", default_value="true"),
DeclareLaunchArgument("run_left_arm", default_value="true"),
DeclareLaunchArgument("run_right_arm", default_value="true"),
# 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
condition=IfCondition(LaunchConfiguration("run_udp")),
parameters=[{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
@ -34,6 +40,7 @@ def generate_launch_description() -> LaunchDescription:
executable="single_arm_velocity_teleop",
name="left_arm_teleop",
output="screen",
condition=IfCondition(LaunchConfiguration("run_left_arm")),
parameters=[config_file, {"use_mock": True}],
),
# 右臂模拟节点：与左臂共用同一配置文件，但读取右手柄话题。
@ -42,14 +49,7 @@ def generate_launch_description() -> LaunchDescription:
executable="single_arm_velocity_teleop",
name="right_arm_teleop",
output="screen",
condition=IfCondition(LaunchConfiguration("run_right_arm")),
parameters=[config_file, {"use_mock": True}],
),
# 右手扳机键到 OmniPicker 归一化力控指令的桥接，模拟阶段用于检查话题输出。
Node(
package="xr_rm_teleop",
executable="gripper_trigger_bridge",
name="right_omnipicker_trigger_bridge",
output="screen",
parameters=[config_file],
),
])

24
xr_rm_bringup/launch/dual_arm_realman.launch.py
View File

@ -1,7 +1,9 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from launch_ros.substitutions import FindPackageShare
@ -19,11 +21,16 @@ def generate_launch_description() -> LaunchDescription:
DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
DeclareLaunchArgument("run_udp", default_value="true"),
DeclareLaunchArgument("run_left_arm", default_value="true"),
DeclareLaunchArgument("run_right_arm", default_value="true"),
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
condition=IfCondition(LaunchConfiguration("run_udp")),
parameters=[{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
@ -36,12 +43,17 @@ def generate_launch_description() -> LaunchDescription:
executable="single_arm_velocity_teleop",
name="left_arm_teleop",
output="screen",
condition=IfCondition(LaunchConfiguration("run_left_arm")),
parameters=[
config_file,
{
"use_mock": False,
"robot_ip": LaunchConfiguration("left_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": ParameterValue(
LaunchConfiguration("move_to_initial_pose_on_connect"),
value_type=bool,
),
},
],
),
@ -50,20 +62,18 @@ def generate_launch_description() -> LaunchDescription:
executable="single_arm_velocity_teleop",
name="right_arm_teleop",
output="screen",
condition=IfCondition(LaunchConfiguration("run_right_arm")),
parameters=[
config_file,
{
"use_mock": False,
"robot_ip": LaunchConfiguration("right_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": ParameterValue(
LaunchConfiguration("move_to_initial_pose_on_connect"),
value_type=bool,
),
},
],
),
Node(
package="xr_rm_teleop",
executable="gripper_trigger_bridge",
name="right_omnipicker_trigger_bridge",
output="screen",
parameters=[config_file],
),
])

34
xr_rm_bringup/launch/single_arm_mock.launch.py
View File

@ -1,36 +1,28 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
config_file = PathJoinSubstitution([
FindPackageShare("xr_rm_teleop"),
"config",
"single_arm.yaml",
arm_debug_launch = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"launch",
"arm_debug.launch.py",
])
return LaunchDescription([
DeclareLaunchArgument("arm", default_value="right"),
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
parameters=[{
IncludeLaunchDescription(
PythonLaunchDescriptionSource(arm_debug_launch),
launch_arguments={
"arm": LaunchConfiguration("arm"),
"use_mock": "true",
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"topic": "/xr/right_controller",
}],
),
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="single_arm_velocity_teleop",
output="screen",
parameters=[config_file, {"use_mock": True}],
}.items(),
),
])

47
xr_rm_bringup/launch/single_arm_realman.launch.py
View File

@ -1,46 +1,37 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
config_file = PathJoinSubstitution([
arm_debug_launch = PathJoinSubstitution([
FindPackageShare("xr_rm_bringup"),
"config",
LaunchConfiguration("robot_config"),
"launch",
"arm_debug.launch.py",
])
return LaunchDescription([
DeclareLaunchArgument("arm", default_value="right"),
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
# 兼容旧命令：robot_ip 仍作为右臂 IP 覆盖入口。
DeclareLaunchArgument("robot_ip", default_value="192.168.192.19"),
DeclareLaunchArgument("robot_port", default_value="8080"),
DeclareLaunchArgument("robot_config", default_value="single_arm_rm75.yaml"),
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
parameters=[{
DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(arm_debug_launch),
launch_arguments={
"arm": LaunchConfiguration("arm"),
"use_mock": "false",
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"topic": "/xr/right_controller",
}],
),
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="single_arm_velocity_teleop",
output="screen",
parameters=[
config_file,
{
"use_mock": False,
"robot_ip": LaunchConfiguration("robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
},
],
"left_robot_ip": LaunchConfiguration("left_robot_ip"),
"right_robot_ip": LaunchConfiguration("robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
"move_to_initial_pose_on_connect": LaunchConfiguration("move_to_initial_pose_on_connect"),
}.items(),
),
])