forked from YikaiFu-cart/acRealman_xr
refactor launch_ui.py and update README.md
This commit is contained in:
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"""双臂 mock 遥操作启动入口。
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该 launch 文件用于不连接真实 RM75 的离线闭环验证：启动 UDP 手柄接收节点，
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并分别启动左、右两个 `single_arm_velocity_teleop` 节点。两个遥操作节点使用
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同一份双臂配置文件，但通过节点名读取各自的参数命名空间。
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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# 通过 robot_config 参数选择 xr_rm_bringup/config 下的双臂配置文件。
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"config",
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LaunchConfiguration("robot_config"),
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])
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return LaunchDescription([
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# UDP 监听参数，需要和 PICO 端或 sample_udp_sender 的目标地址保持一致。
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
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# 这些开关便于单独验证 UDP、左臂或右臂链路。
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DeclareLaunchArgument("run_udp", default_value="true"),
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DeclareLaunchArgument("run_left_arm", default_value="true"),
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DeclareLaunchArgument("run_right_arm", default_value="true"),
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# 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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condition=IfCondition(LaunchConfiguration("run_udp")),
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"left_topic": "/xr/left_controller",
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"right_topic": "/xr/right_controller",
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}],
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),
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# 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。
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="left_arm_teleop",
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output="screen",
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condition=IfCondition(LaunchConfiguration("run_left_arm")),
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parameters=[config_file, {"use_mock": True}],
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),
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# 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。
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="right_arm_teleop",
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output="screen",
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condition=IfCondition(LaunchConfiguration("run_right_arm")),
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parameters=[config_file, {"use_mock": True}],
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),
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])
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"""双 RM75 真机遥操作启动入口。
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该 launch 文件用于连接左右两台真实 RM75：启动 UDP 手柄接收节点，并分别启动
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左、右两个真机遥操作节点。默认不会自动移动到初始点，只有显式设置
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`move_to_initial_pose_on_connect:=true` 后才会执行初始化点位移动。
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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# 双臂真机默认读取 xr_rm_bringup/config/dual_arm_rm75.yaml。
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"config",
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LaunchConfiguration("robot_config"),
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])
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return LaunchDescription([
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# UDP 监听参数，需要与 PICO 端发送地址和端口匹配。
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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# 左右 RM75 的默认现场 IP，可在 launch 命令中按实际网络覆盖。
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DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
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DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
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DeclareLaunchArgument("robot_port", default_value="8080"),
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DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
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# 调试时可关闭部分节点，只验证 UDP 或单侧机械臂。
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DeclareLaunchArgument("run_udp", default_value="true"),
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DeclareLaunchArgument("run_left_arm", default_value="true"),
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DeclareLaunchArgument("run_right_arm", default_value="true"),
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# 真机默认不自动动臂，确认安全区清空后再手动打开。
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DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
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# 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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condition=IfCondition(LaunchConfiguration("run_udp")),
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"left_topic": "/xr/left_controller",
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"right_topic": "/xr/right_controller",
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}],
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),
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# 左臂真机节点：连接 left_robot_ip，并读取 left_arm_teleop 参数命名空间。
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="left_arm_teleop",
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output="screen",
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condition=IfCondition(LaunchConfiguration("run_left_arm")),
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parameters=[
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config_file,
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{
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"use_mock": False,
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"robot_ip": LaunchConfiguration("left_robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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"move_to_initial_pose_on_connect": ParameterValue(
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LaunchConfiguration("move_to_initial_pose_on_connect"),
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value_type=bool,
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),
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},
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],
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),
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# 右臂真机节点：连接 right_robot_ip，并读取 right_arm_teleop 参数命名空间。
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="right_arm_teleop",
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output="screen",
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condition=IfCondition(LaunchConfiguration("run_right_arm")),
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parameters=[
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config_file,
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{
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"use_mock": False,
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"robot_ip": LaunchConfiguration("right_robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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"move_to_initial_pose_on_connect": ParameterValue(
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LaunchConfiguration("move_to_initial_pose_on_connect"),
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value_type=bool,
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),
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},
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],
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),
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])
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