ZhengLiu-cart/acRealman_xr_from_Yikai
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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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xr_rm_input/launch/udp_receiver.launch.py Executable file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description() -> LaunchDescription:
return LaunchDescription([
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("topic", default_value="/xr/right_controller"),
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": LaunchConfiguration("topic"),
}],
),
])