ZhengLiu-cart/acRealman_xr_from_Yikai
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Refactor and enhance XR-RM teleoperation functionality

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This commit is contained in:
YikaiFu-cart
2026-05-31 20:06:07 +08:00
parent 3f48468f63
commit 948d50cab4
13 changed files with 409 additions and 354 deletions
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26
xr_rm_bringup/launch/arm_debug.launch.py
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@ -36,6 +36,7 @@ def _udp_receiver_node() -> Node:
parameters=[{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"timer_hz": LaunchConfiguration("udp_timer_hz"),
"left_topic": "/xr/left_controller",
"right_topic": "/xr/right_controller",
}],
@ -48,6 +49,8 @@ def _single_arm_node(
move_to_initial_pose: bool,
avoid_singularity: int,
frame_type: int,
control_rate_hz: float,
follow: bool,
configure_safety_limits: bool,
enable_tool_control: bool,
configure_peripheral_on_connect: bool,
@ -69,6 +72,8 @@ def _single_arm_node(
"robot_port": LaunchConfiguration("robot_port"),
"avoid_singularity": avoid_singularity,
"frame_type": frame_type,
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
"move_to_initial_pose_on_connect": move_to_initial_pose,
"enable_tool_control": enable_tool_control,
@ -91,6 +96,8 @@ def _dual_arm_nodes(
left_avoid_singularity: int,
right_avoid_singularity: int,
frame_type: int,
control_rate_hz: float,
follow: bool,
configure_safety_limits: bool,
enable_tool_control: bool,
configure_peripheral_on_connect: bool,
@ -111,6 +118,8 @@ def _dual_arm_nodes(
"robot_port": LaunchConfiguration("robot_port"),
"avoid_singularity": left_avoid_singularity,
"frame_type": frame_type,
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
"move_to_initial_pose_on_connect": move_to_initial_pose,
"enable_tool_control": enable_tool_control,
@ -134,6 +143,8 @@ def _dual_arm_nodes(
"robot_port": LaunchConfiguration("robot_port"),
"avoid_singularity": right_avoid_singularity,
"frame_type": frame_type,
"control_rate_hz": control_rate_hz,
"follow": follow,
"configure_safety_limits": configure_safety_limits,
"move_to_initial_pose_on_connect": move_to_initial_pose,
"enable_tool_control": enable_tool_control,
@ -163,6 +174,8 @@ def _launch_setup(context, *args, **kwargs):
avoid_override or LaunchConfiguration("right_avoid_singularity").perform(context)
)
frame_type = int(LaunchConfiguration("frame_type").perform(context))
control_rate_hz = float(LaunchConfiguration("control_rate_hz").perform(context))
follow = _as_bool(LaunchConfiguration("follow").perform(context))
configure_safety_limits = _as_bool(
LaunchConfiguration("configure_safety_limits").perform(context)
)
@ -185,6 +198,8 @@ def _launch_setup(context, *args, **kwargs):
left_avoid_singularity,
right_avoid_singularity,
frame_type,
control_rate_hz,
follow,
configure_safety_limits,
enable_tool_control,
configure_peripheral_on_connect,
@ -199,6 +214,8 @@ def _launch_setup(context, *args, **kwargs):
move_to_initial_pose,
avoid_singularity,
frame_type,
control_rate_hz,
follow,
configure_safety_limits,
enable_tool_control,
configure_peripheral_on_connect,
@ -216,17 +233,22 @@ def generate_launch_description() -> LaunchDescription:
# UDP 监听参数，需要与 PICO 端或 sample_udp_sender 保持一致。
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
# UDP receiver 轮询频率高于 PICO 发送频率，减少 socket 中等待时间。
DeclareLaunchArgument("udp_timer_hz", default_value="200.0"),
# 左右 RM75 默认 IP，可在命令行中按现场网络覆盖。
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"),
# 真机速度透传与安全配置参数。左臂现场控制器对硬件避奇异初始化
# 可能返回超时，因此默认关闭硬件避奇异，只保留软件侧限幅。
# 真机位姿透传与安全配置参数。
DeclareLaunchArgument("left_avoid_singularity", default_value="0"),
DeclareLaunchArgument("right_avoid_singularity", default_value="1"),
# 非空时作为左右臂全局覆盖，例如 avoid_singularity:=0。
DeclareLaunchArgument("avoid_singularity", default_value=""),
DeclareLaunchArgument("frame_type", default_value="1"),
# 现场调参入口：默认按 PICO 90Hz 输入节奏发送 rm_movep_canfd。
DeclareLaunchArgument("control_rate_hz", default_value="90.0"),
# 默认低跟随；高跟随请确认控制器和网络能稳定满足厂商周期要求后再打开。
DeclareLaunchArgument("follow", default_value="false"),
DeclareLaunchArgument("configure_safety_limits", default_value="true"),
# 工具控制通过遥操作节点复用同一个 RealMan 连接，避免两个进程抢同一机械臂连接。
DeclareLaunchArgument("enable_tool_control", default_value="true"),