Joystick teleop works now.

chrisl8 · Oct 17, 2024 · 01fea19 · 01fea19
1 parent 6f97749
commit 01fea19
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Showing 4 changed files with 32 additions and 80 deletions.
diff --git a/arlobot_ros/launch/keyboard_teleop.launch.py b/arlobot_ros/launch/keyboard_teleop.launch.py
diff --git a/arlobot_ros/launch/robot.launch.py b/arlobot_ros/launch/robot.launch.py
@@ -12,10 +12,6 @@ def generate_launch_description():
             name='scanTopicSource',
             default_value=os.environ.get('SCAN_TOPIC_SOURCE', 'rplidar')
         ),
-        launch.actions.DeclareLaunchArgument(
-            name='loadJoystick',
-            default_value=os.environ.get('HAS_XBOX_JOYSTICK', 'false')
-        ),
         launch.actions.DeclareLaunchArgument(
             name='loadRPLIDAR',
             default_value=os.environ.get('HAS_RPLIDAR', 'true')

diff --git a/arlobot_ros/launch/xbox360_teleop.launch.py b/arlobot_ros/launch/xbox360_teleop.launch.py
@@ -1,62 +1,44 @@
+import os
+# https://docs.ros.org/en/ros2_packages/iron/api/teleop_twist_joy/standard_docs/README.html
+# Based on: jazzy/share/teleop_twist_joy/launch/teleop-launch.py
+
+from ament_index_python.packages import get_package_share_directory
 import launch
 import launch_ros.actions
-from launch.substitutions import EnvironmentVariable, LaunchConfiguration
-from launch import LaunchDescription
 
 
 # Push the left frontal button labeled as 'LB' to activate cmd_vel publishing.
 # Move the left stick around to control the velocity.
 
+# TODO: Does teleop_tiwst_joy_node need paramemter 'scale_angular': 1.5?
 
 def generate_launch_description():
-    return LaunchDescription([
-        launch.actions.DeclareLaunchArgument(
-            name='joy_config',
-            default_value='xbox'
-        ),
-        launch.actions.DeclareLaunchArgument(
-            name='config_filepath',
-            default_value=LaunchConfiguration(
-                'joy_config')
-        ),
-        launch.actions.DeclareLaunchArgument(
-            name='joy_topic',
-            default_value='joy'
-        ),
+    joy_config = launch.substitutions.LaunchConfiguration('joy_config')
+    joy_dev = launch.substitutions.LaunchConfiguration('joy_dev')
+    publish_stamped_twist = launch.substitutions.LaunchConfiguration('publish_stamped_twist')
+    config_filepath = launch.substitutions.LaunchConfiguration('config_filepath')
+
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument('joy_vel', default_value='joy_vel'),
+        launch.actions.DeclareLaunchArgument('joy_config', default_value='xbox'),
+        launch.actions.DeclareLaunchArgument('joy_dev', default_value='0'),
+        launch.actions.DeclareLaunchArgument('publish_stamped_twist', default_value='false'),
+        launch.actions.DeclareLaunchArgument('config_filepath', default_value=[
+            launch.substitutions.TextSubstitution(text=os.path.join(
+                get_package_share_directory('teleop_twist_joy'), 'config', '')),
+            joy_config, launch.substitutions.TextSubstitution(text='.config.yaml')]),
+
         launch_ros.actions.Node(
-            package='joy',
-            executable='joy_node',
-            name='joy_node',
-            parameters=[
-                {
-                    'dev': EnvironmentVariable('JOY_DEVICE')
-                },
-                {
-                    'deadzone': 0.3
-                },
-                {
-                    # ROS requires a repeat on the output to keep moving the robot,
-                    # although this means you need a cooldown on button inputs if you use them for anything else.
-                    'autorepeat_rate': 20.0
-                }
-            ]
-        ),
+            package='joy', executable='joy_node', name='joy_node',
+            parameters=[{
+                'device_id': joy_dev,
+                'deadzone': 0.3,
+                'autorepeat_rate': 20.0,
+            }]),
         launch_ros.actions.Node(
-            package='teleop_twist_joy',
-            executable='teleop_node',
-            name='teleop_twist_joy',
-            parameters=[
-                {
-                    'scale_angular': 1.5
-                },
-                {
-                    'enable_button': 4
-                },
-                LaunchConfiguration('config_filepath')
-            ]
-        )
+            package='teleop_twist_joy', executable='teleop_node',
+            name='teleop_twist_joy_node',
+            parameters=[config_filepath, {'publish_stamped_twist': publish_stamped_twist, 'enable_button': 4}],
+            remappings={('/cmd_vel', launch.substitutions.LaunchConfiguration('joy_vel'))},
+        ),
     ])
-
-
-if __name__ == '__main__':
-    generate_launch_description()
diff --git a/scripts/ros_prep.sh b/scripts/ros_prep.sh
@@ -85,12 +85,3 @@ else
   NC='\033[0m' # NoColor
   printf "\n${YELLOW}Without an activity board your robot will not function!${NC}\n"
 fi
-
-JOY_DEVICE="/dev/input/js0" # default
-if [[ $(jq '.hasXboxController' "${HOME}/.arlobot/personalDataForBehavior.json") == true ]]; then
-  export HAS_XBOX_JOYSTICK=true
-  if [[ $("${SCRIPTDIR}/find_xbox_controller.sh") ]]; then
-    JOY_DEVICE="$("${SCRIPTDIR}/find_xbox_controller.sh")"
-  fi
-fi
-export JOY_DEVICE