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YikaiFu-cart
2026-05-20 14:17:43 +08:00
parent 1c83dfb033
commit 5a48619599
31 changed files with 1522 additions and 24 deletions
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55
xr_rm_bringup/launch/dual_arm_mock.launch.py Executable file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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_bringup"),
"config",
"dual_arm_rm75.yaml",
])
return LaunchDescription([
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
# 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",
parameters=[{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"left_topic": "/xr/left_controller",
"right_topic": "/xr/right_controller",
}],
),
# 左臂模拟节点：不连接真实 RM75，只积分速度命令用于验证坐标方向。
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="left_arm_teleop",
output="screen",
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。
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="right_arm_teleop",
output="screen",
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],
),
])

69
xr_rm_bringup/launch/dual_arm_realman.launch.py Executable file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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_bringup"),
"config",
LaunchConfiguration("robot_config"),
])
return LaunchDescription([
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("robot_config", default_value="dual_arm_rm75.yaml"),
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",
}],
),
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="left_arm_teleop",
output="screen",
parameters=[
config_file,
{
"use_mock": False,
"robot_ip": LaunchConfiguration("left_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
},
],
),
Node(
package="xr_rm_teleop",
executable="single_arm_velocity_teleop",
name="right_arm_teleop",
output="screen",
parameters=[
config_file,
{
"use_mock": False,
"robot_ip": LaunchConfiguration("right_robot_ip"),
"robot_port": LaunchConfiguration("robot_port"),
},
],
),
Node(
package="xr_rm_teleop",
executable="gripper_trigger_bridge",
name="right_omnipicker_trigger_bridge",
output="screen",
parameters=[config_file],
),
])

36
xr_rm_bringup/launch/single_arm_mock.launch.py Executable file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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",
])
return LaunchDescription([
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=[{
"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}],
),
])

46
xr_rm_bringup/launch/single_arm_realman.launch.py Executable file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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_bringup"),
"config",
LaunchConfiguration("robot_config"),
])
return LaunchDescription([
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
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=[{
"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"),
},
],
),
])