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feat: 基于Python ROS2的控制程序

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This commit is contained in:
Mock
2026-04-03 20:00:33 +08:00
parent 6ece408d9f
commit 9ffc36f50d
26 changed files with 2193 additions and 38 deletions
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34
ros-control-py/udp_teleop_bridge/launch/keyboard_sender.launch.py Normal file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description() -> LaunchDescription:
return LaunchDescription([
DeclareLaunchArgument('transport', default_value='udp'),
DeclareLaunchArgument('server_addr', default_value=''),
DeclareLaunchArgument('relay_via', default_value=''),
DeclareLaunchArgument('peer_id', default_value='ros-keyboard-ctrl'),
DeclareLaunchArgument('target_peer', default_value='ros-bridge-ctrl'),
DeclareLaunchArgument('input_topic', default_value='/teleop/cmd_vel'),
DeclareLaunchArgument('send_rate_hz', default_value='20.0'),
DeclareLaunchArgument('input_timeout', default_value='0.75'),
Node(
package='udp_teleop_bridge',
executable='cmd_vel_udp_sender',
name='cmd_vel_udp_sender',
output='screen',
parameters=[{
'transport': LaunchConfiguration('transport'),
'server_addr': LaunchConfiguration('server_addr'),
'relay_via': LaunchConfiguration('relay_via'),
'peer_id': LaunchConfiguration('peer_id'),
'target_peer': LaunchConfiguration('target_peer'),
'input_topic': LaunchConfiguration('input_topic'),
'send_rate_hz': ParameterValue(LaunchConfiguration('send_rate_hz'), value_type=float),
'input_timeout': ParameterValue(LaunchConfiguration('input_timeout'), value_type=float),
}],
),
])

36
ros-control-py/udp_teleop_bridge/launch/robot_udp_receiver.launch.py Normal file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description() -> LaunchDescription:
return LaunchDescription([
DeclareLaunchArgument('transport', default_value='udp'),
DeclareLaunchArgument('server_addr', default_value=''),
DeclareLaunchArgument('relay_via', default_value=''),
DeclareLaunchArgument('peer_id', default_value='ros-bridge-ctrl'),
DeclareLaunchArgument('expected_sender', default_value=''),
DeclareLaunchArgument('output_topic', default_value='/hric/robot/cmd_vel'),
DeclareLaunchArgument('frame_id', default_value='pelvis'),
DeclareLaunchArgument('watchdog_timeout', default_value='0.5'),
DeclareLaunchArgument('publish_rate_hz', default_value='100.0'),
Node(
package='udp_teleop_bridge',
executable='udp_cmd_vel_receiver',
name='udp_cmd_vel_receiver',
output='screen',
parameters=[{
'transport': LaunchConfiguration('transport'),
'server_addr': LaunchConfiguration('server_addr'),
'relay_via': LaunchConfiguration('relay_via'),
'peer_id': LaunchConfiguration('peer_id'),
'expected_sender': LaunchConfiguration('expected_sender'),
'output_topic': LaunchConfiguration('output_topic'),
'frame_id': LaunchConfiguration('frame_id'),
'watchdog_timeout': ParameterValue(LaunchConfiguration('watchdog_timeout'), value_type=float),
'publish_rate_hz': ParameterValue(LaunchConfiguration('publish_rate_hz'), value_type=float),
}],
),
])

74
ros-control-py/udp_teleop_bridge/launch/xbox_to_udp.launch.py Normal file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
teleop_config = PathJoinSubstitution([
FindPackageShare('udp_teleop_bridge'),
'config',
'xbox_twist_joy.yaml',
])
teleop_topic = LaunchConfiguration('teleop_topic')
return LaunchDescription([
DeclareLaunchArgument('transport', default_value='udp'),
DeclareLaunchArgument('server_addr', default_value=''),
DeclareLaunchArgument('relay_via', default_value=''),
DeclareLaunchArgument('peer_id', default_value='ros-gamepad-ctrl'),
DeclareLaunchArgument('target_peer', default_value='ros-bridge-ctrl'),
DeclareLaunchArgument('joy_dev', default_value='/dev/input/js0'),
DeclareLaunchArgument('deadzone', default_value='0.10'),
DeclareLaunchArgument('autorepeat_rate', default_value='20.0'),
DeclareLaunchArgument('frame_id', default_value='pelvis'),
DeclareLaunchArgument('teleop_topic', default_value='/teleop/cmd_vel'),
DeclareLaunchArgument('send_rate_hz', default_value='20.0'),
DeclareLaunchArgument('input_timeout', default_value='0.30'),
Node(
package='joy',
executable='joy_node',
name='joy_node',
output='screen',
parameters=[{
'dev': LaunchConfiguration('joy_dev'),
'deadzone': ParameterValue(LaunchConfiguration('deadzone'), value_type=float),
'autorepeat_rate': ParameterValue(LaunchConfiguration('autorepeat_rate'), value_type=float),
}],
),
Node(
package='teleop_twist_joy',
executable='teleop_node',
name='teleop_twist_joy',
output='screen',
parameters=[
teleop_config,
{
'publish_stamped_twist': True,
'frame': LaunchConfiguration('frame_id'),
},
],
remappings=[
('cmd_vel', teleop_topic),
],
),
Node(
package='udp_teleop_bridge',
executable='cmd_vel_udp_sender',
name='cmd_vel_udp_sender',
output='screen',
parameters=[{
'transport': LaunchConfiguration('transport'),
'server_addr': LaunchConfiguration('server_addr'),
'relay_via': LaunchConfiguration('relay_via'),
'peer_id': LaunchConfiguration('peer_id'),
'target_peer': LaunchConfiguration('target_peer'),
'input_topic': teleop_topic,
'send_rate_hz': ParameterValue(LaunchConfiguration('send_rate_hz'), value_type=float),
'input_timeout': ParameterValue(LaunchConfiguration('input_timeout'), value_type=float),
}],
),
])