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

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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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10
xr_rm_bringup/tools/launcher_ui.py
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@ -41,7 +41,7 @@ SAMPLE_SENDER_ARGS = (
TERMINAL_TITLE_PREFIX = "XR-RM Terminal - "
TOPIC_MONITOR_TITLE = "XR-RM Topic Monitor"
TOPIC_MONITOR_ACTION = "__xr_rm_topic_monitor__"
CMD_VEL_MONITOR_TITLE = "XR-RM Cmd Vel Monitor"
CMD_VEL_MONITOR_TITLE = "XR-RM Target Velocity Monitor"
CMD_VEL_MONITOR_ACTION = "__xr_rm_cmd_vel_monitor__"
ROS_GRAPH_MONITOR_TITLE = "XR-RM ROS Graph Monitor"
ROS_GRAPH_MONITOR_ACTION = "__xr_rm_ros_graph_monitor__"
@ -52,8 +52,8 @@ TOPIC_MONITORS = [
]
CMD_VEL_MONITORS = [
("Left Cmd Vel", "/xr_rm/left_rm75/cmd_vel"),
("Right Cmd Vel", "/xr_rm/right_rm75/cmd_vel"),
("Left Target Vel", "/xr_rm/left_rm75/cmd_vel"),
("Right Target Vel", "/xr_rm/right_rm75/cmd_vel"),
]
ROS_GRAPH_MONITORS = [
@ -167,7 +167,7 @@ def _topic_monitor_item() -> tuple[str, str]:
def _cmd_vel_monitor_item() -> tuple[str, str]:
return ("Open Cmd Vel Topic Monitor", CMD_VEL_MONITOR_ACTION)
return ("Open Target Velocity Monitor", CMD_VEL_MONITOR_ACTION)
def _is_topic_monitor_action(action: str) -> bool:
@ -181,7 +181,7 @@ def _topic_monitor_spec(action: str) -> tuple[str, list[tuple[str, str]], str, s
CMD_VEL_MONITORS,
"xr_rm_cmd_vel_monitor",
"xr_rm_cmd_vel_monitor_",
"cmd_vel topic",
"target velocity topic",
)
return (
TOPIC_MONITOR_TITLE,