Add initial control node

docker-compose.yaml

@@ -4,6 +4,7 @@ services:
   wbb-amd64:
     container_name: wbb
     image: cr.yandex/crp8hpfj5tuhlaodm4dl/wbb:0.1.0-amd64
+    platform: linux/x86_64
     stdin_open: true
     privileged: true
     tty: true
@@ -17,11 +18,11 @@ services:
     - "9090:9090"
     volumes:
       - "${PWD}:/wbb"
-      - "/dev:/dev"
 
   wbb-arm64v8:
     container_name: wbb
     image: cr.yandex/crp8hpfj5tuhlaodm4dl/wbb:0.1.0-arm64v8
+    platform: linux/arm64/v8
     stdin_open: true
     privileged: true
     tty: true
@@ -35,4 +36,4 @@ services:
     - "9090:9090"
     volumes:
       - "${PWD}:/wbb"
-      - "/dev:/dev"
+      - "/dev:/dev"

packages/joystick_proxy/README.md

@@ -0,0 +1,3 @@
+# Joystick proxy node
+
+Run `ros2 run joy joy_node` to receive events from joystick

packages/joystick_proxy/config/ipega.yaml

@@ -0,0 +1,5 @@
+velocity_axis: 3
+curvature_axis: 0
+off_button: 0
+remote_button: 1
+auto_button: 4

packages/joystick_proxy/config/ps4.yaml

@@ -0,0 +1,5 @@
+velocity_axis: 4
+curvature_axis: 0
+off_button: 0
+remote_button: 1
+auto_button: 2

packages/joystick_proxy/config/ps5.yaml

@@ -0,0 +1,5 @@
+velocity_axis: 1
+curvature_axis: 2
+off_button: 0 # square
+remote_button: 1 # X
+auto_button: 2 # O

packages/joystick_proxy/joystick_proxy/joystick.py

@@ -0,0 +1,57 @@
+import rclpy
+from rclpy.node import Node
+from yaml import load, Loader
+
+from wbb_msgs.msg import Control, Eraser
+from sensor_msgs.msg import Joy
+
+
+class Joystick(Node):
+    def __init__(self):
+        super(Joystick, self).__init__('joystick')
+        self.sub = self.create_subscription(Joy, "/joy", self.handleJoystick, 10)
+        self.pub = self.create_publisher(Control, "/movement", 10)
+        self.eraser_pub = self.create_publisher(Eraser, "/eraser", 10)
+
+        # Path to the joy control map yaml file
+        self.declare_parameter('control_map', None)
+        self.declare_parameter('max_curvature', 2.0)
+        self.declare_parameter('min_velocity', 0.1)
+        self.btn_state = 0
+
+        self.max_curv = self.get_parameter('max_curvature').value
+        self.min_velocity = self.get_parameter('min_velocity').value
+        self.loadConfig()
+
+    def loadConfig(self):
+        with open(self.get_parameter('control_map').value, 'r') as f:
+            self.joy_map = load(f, Loader=Loader)
+
+    def handleJoystick(self, msg):
+        curv = msg.axes[self.joy_map["curvature_axis"]] * self.max_curv
+        vel = msg.axes[self.joy_map["velocity_axis"]]
+        if abs(vel) < self.min_velocity:
+            vel = 0.0  # stop
+
+        #self.get_logger().info('curv: %f; vel: %f' % (curv, vel))
+
+        control = Control()
+        control.curvature = curv
+        control.velocity = vel
+        self.pub.publish(control)
+
+        btn = msg.axes[self.joy_map["off_button"]]
+        if not btn == self.btn_state:
+            er = Eraser()
+            er.toggle = True
+            self.eraser_pub.publish(er)
+            self.btn_state = btn
+
+def main():
+    rclpy.init()
+    joy = Joystick()
+    rclpy.spin(joy)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

packages/joystick_proxy/launch/joystick.yaml

@@ -0,0 +1,12 @@
+launch:
+- arg:
+    name: "control_name"
+    default: "ps4"
+- node:
+    pkg: "joystick_proxy"
+    exec: "joystick"
+    name: "joystick"
+    param:
+    - {name: "control_map", value: "$(find-pkg-share joystick_proxy)/config/$(var control_name).yaml"}
+    - {name: "max_curvature", value: 40.0}
+    - {name: "min_velocity", value: 0.0}

packages/joystick_proxy/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joystick_proxy</name>
+  <version>0.0.0</version>
+  <description>Simple joystick proxy</description>
+  <maintainer email="[email protected]">enaix</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <depend>sensor_msgs</depend>
+  <depend>python3-yaml</depend>
+  <depend>wbb_msgs</depend>
+  <depend>rclpy</depend>
+  <exec_depend>joy</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

packages/joystick_proxy/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/joystick_proxy
+[install]
+install_scripts=$base/lib/joystick_proxy

packages/joystick_proxy/setup.py

@@ -0,0 +1,30 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'joystick_proxy'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+        ('share/' + package_name, glob('launch/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='enaix',
+    maintainer_email='[email protected]',
+    description='Simple joystick proxy node',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'joystick = joystick_proxy.joystick:main'
+        ],
+    },
+)

packages/joystick_proxy/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

packages/joystick_proxy/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

packages/joystick_proxy/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

packages/wbb_control/launch/control.yaml

@@ -0,0 +1,7 @@
+launch:
+- node:
+    pkg: "wbb_control"
+    exec: "control"
+    name: "control"
+    param:
+    - {name: "esp32_ip", value: "192.168.1.121"}

packages/wbb_control/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wbb_control</name>
+  <version>0.0.0</version>
+  <description>Whiteboard bot controller node</description>
+  <maintainer email="[email protected]">enaix</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <depend>wbb_msgs</depend>
+  <depend>python3-websockets</depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

packages/wbb_control/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/wbb_control
+[install]
+install_scripts=$base/lib/wbb_control

packages/wbb_control/setup.py

@@ -0,0 +1,28 @@
+from setuptools import setup
+from glob import glob
+
+package_name = 'wbb_control'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name, glob('launch/*.yaml')),
+    ],
+    install_requires=['setuptools', 'websockets'],
+    zip_safe=True,
+    maintainer='enaix',
+    maintainer_email='[email protected]',
+    description='Whiteboard bot control node',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'control = wbb_control.control:main'
+        ],
+    },
+)

packages/wbb_control/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

packages/wbb_control/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

packages/wbb_control/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'