feat: add peripherals control

xr_rm_bringup/tools/launcher_ui.py

@@ -96,6 +96,12 @@ def _sample_udp_sender_command(
     return command
 
 
+def _tool_command(arm: str, open_tool: bool) -> str:
+    arm_name = "left_rm75" if arm == "left" else "right_rm75"
+    value = "true" if open_tool else "false"
+    return f"ros2 topic pub --once /xr_rm/{arm_name}/tool_enable std_msgs/msg/Bool '{{data: {value}}}'"
+
+
 def _find_workspace_root() -> Path:
     # 优先使用显式环境变量，便于从安装目录、源码目录或桌面快捷方式启动。
     env_workspace = os.environ.get("XR_RM_WS")
@@ -232,6 +238,8 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
                 f"left_robot_ip:={DEFAULT_LEFT_IP} "
                 "move_to_initial_pose_on_connect:=false",
             ),
+            ("Left Tool Open", _tool_command("left", True)),
+            ("Left Tool Close", _tool_command("left", False)),
             (
                 "Sample UDP Sender (Left, 30s)",
                 _sample_udp_sender_command("left"),
@@ -247,6 +255,8 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
                 f"right_robot_ip:={DEFAULT_RIGHT_IP} "
                 "move_to_initial_pose_on_connect:=false",
             ),
+            ("Right Tool Open", _tool_command("right", True)),
+            ("Right Tool Close", _tool_command("right", False)),
             (
                 "Sample UDP Sender (Right, 30s)",
                 _sample_udp_sender_command("right"),