feat: 基于Python ROS2的控制程序

ros-control-py/udp_teleop_bridge/launch/robot_udp_receiver.launch.py

@@ -0,0 +1,36 @@
+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),
+            }],
+        ),
+    ])