limingjie/OmniSocketGo
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feat: 视频与控制程序合并

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This commit is contained in:
Mock
2026-04-04 23:25:43 +08:00
parent 9ffc36f50d
commit 70e835ed49
19 changed files with 1674 additions and 706 deletions
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2
ros-control-py/udp_teleop_bridge/launch/robot_udp_receiver.launch.py
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@@ -12,6 +12,7 @@ def generate_launch_description() -> LaunchDescription:
DeclareLaunchArgument('relay_via', default_value=''),
DeclareLaunchArgument('peer_id', default_value='ros-bridge-ctrl'),
DeclareLaunchArgument('expected_sender', default_value=''),
DeclareLaunchArgument('local_socket_path', default_value='/tmp/omnisocket-b-side-cmd.sock'),
DeclareLaunchArgument('output_topic', default_value='/hric/robot/cmd_vel'),
DeclareLaunchArgument('frame_id', default_value='pelvis'),
DeclareLaunchArgument('watchdog_timeout', default_value='0.5'),
@@ -27,6 +28,7 @@ def generate_launch_description() -> LaunchDescription:
'relay_via': LaunchConfiguration('relay_via'),
'peer_id': LaunchConfiguration('peer_id'),
'expected_sender': LaunchConfiguration('expected_sender'),
'local_socket_path': LaunchConfiguration('local_socket_path'),
'output_topic': LaunchConfiguration('output_topic'),
'frame_id': LaunchConfiguration('frame_id'),
'watchdog_timeout': ParameterValue(LaunchConfiguration('watchdog_timeout'), value_type=float),