Merge pull request #26 from clubcapra/Controller-fixes-with-docker

Merge Controller fixes with docker to main

.devcontainer/Dockerfile

@@ -1,7 +1,5 @@
 FROM ghcr.io/clubcapra/gazebo:harmonic
 
-
-
 # Add vscode user with same UID and GID as your host system
 # (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
 ARG USERNAME=rove
@@ -11,7 +9,8 @@ ARG USER_GID=$USER_UID
 WORKDIR /workspace/$USERNAME
 
 RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && groupadd -g 107 input \
+    && useradd -s /bin/bash --uid $USER_UID -g $USER_GID -G 107 -m $USERNAME \
     && apt-get update \
     && apt-get install -y sudo \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \

README.md

@@ -19,7 +19,20 @@ Working in a dev container will allow you to have the same environnement as the
 
 ### Linux installation
 
-To be tested, but it should be similar to the Windows installation without the Xserver part.
+Same as the windows installation, step 4 and 8 can be skiped.
+
+Replace the DISPLAY environemnt variable in the .env file
+```bash
+echo DISPLAY=$DISPLAY
+```
+
+To be able to use the controller node, the user need read/write permissions on the inputs.
+Exemple:
+```bash
+cat /dev/input/event0
+```
+
+**Suggestion:** Configure docker to be able to run as non-root user https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user
 
 ## Native installation (Ubuntu 22.04 LTS, other distros not supported)
 
@@ -38,8 +51,19 @@ source install/setup.bash
 ros2 launch rove_description sim.launch.py
 ```
 
-**Note:** To move the robot, you need to use gazebo as there is no controller yet
+## Running the controller with a usb cable
 
+```bash
+source install/setup.bash
+ros2 launch rove_bringup rove_controller_usb.launch.py
+```
+
+## Running the controller with a usb cable
+
+```bash
+source install/setup.bash
+ros2 launch rove_bringup rove_controller_bluethoot.launch.py
+```
 
 ## Adding New Packages
 
@@ -57,4 +81,4 @@ It's possible to run the entire project into multiple docker containers. Each co
 
 # Documentation
 
-To update the UML diagram, create a new encoded link on the PlantUML website. Copy the existing UML, make your changes, and then update the markdown file with the new link.
+To update the UML diagram, create a new encoded link on the PlantUML website. Copy the existing UML, make your changes, and then update the markdown file with the new link.

docker-compose.yml

@@ -8,6 +8,9 @@ services:
       - ./:/workspace/rove
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /tmp/.Xauthority:/tmp/.Xauthority:rw
+      - /dev/input:/dev/input:rw
+    devices:
+      - /dev/input:/dev/input:rw
     env_file:
       - .env
     command: sleep infinity

src/rove_bringup/CMakeLists.txt

@@ -6,15 +6,16 @@ project(rove_bringup)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(Qt5 COMPONENTS Widgets REQUIRED)
 
-add_executable(rove_controller src/rove_controller.cpp)
+add_executable(rove_controller_node src/rove_controller_node.cpp)
 
 # Link dependencies
-ament_target_dependencies(rove_controller rclcpp sensor_msgs)
+ament_target_dependencies(rove_controller_node rclcpp sensor_msgs)
 
 # Install executable
 install(TARGETS
-  rove_controller
+  rove_controller_node
   DESTINATION lib/${PROJECT_NAME}
 )
 

src/rove_bringup/config/bluethoot_mapping.yaml

@@ -0,0 +1,24 @@
+/rove_controller_node:
+  ros__parameters:
+  # Buttons
+    A: 0
+    B: 1
+    X: 3
+    Y: 4
+    LB: 6
+    RB: 7
+    VIEW: 10
+    MENU: 11
+    XBOX: 12
+    LS: 13
+    RS: 14
+    SHARE: 15
+  # Axes
+    LS_X: 0
+    LS_Y: 1
+    LT: 5
+    RS_X: 2
+    RS_Y: 3
+    RT: 4
+    D_PAD_X: 6
+    D_PAD_Y: 7

src/rove_bringup/config/joy_params.yaml

@@ -1,18 +1,13 @@
 /game_controller_node:
   ros__parameters:
-    # 0 (publish on change)
-    autorepeat_rate: 0.0
-    # 1000ms / 20 (refresh rate in Hz) = 50
+    autorepeat_rate: 20.0 # 0 (publish on change)
+    coalesce_interval_ms: 50 # 1000ms / 20 (refresh rate in Hz) = 50
+    deadzone: 0.05
+    sticky_buttons: false
+
+/joy_node:
+  ros__parameters:
+    autorepeat_rate: 20.0
     coalesce_interval_ms: 50
     deadzone: 0.05
-    device_id: 0
-    device_name: ''
-    qos_overrides:
-      /parameter_events:
-        publisher:
-          depth: 1000
-          durability: volatile
-          history: keep_last
-          reliability: reliable
     sticky_buttons: false
-    use_sim_time: false

src/rove_bringup/config/teleop_joy_params.yaml

@@ -1,30 +1,23 @@
 /teleop_twist_joy_node:
   ros__parameters:
     axis_angular:
-      pitch: 0 #LS_X
-      roll: 1 #LS_Y
-      yaw: -1 #not set
+      pitch: -1 #not set
+      roll: -1 #not set
+      yaw: 0 #LS_X
     axis_linear:
-      x: 5
-      y: -1
-      z: -1
+      x: 1 #LS_Y
+      y: -1 #not set
+      z: -1 #not set
     enable_button: 0 #A
-    enable_turbo_button: -1
-    qos_overrides:
-      /parameter_events:
-        publisher:
-          depth: 1000
-          durability: volatile
-          history: keep_last
-          reliability: reliable
+    enable_turbo_button: -1 # not set
     require_enable_button: true
     scale_angular:
-      pitch: 0.5
-      roll: 0.5
+      pitch: 0.0
+      roll: 0.0
       yaw: 0.5
     scale_angular_turbo:
-      pitch: 1.0
-      roll: 1.0
+      pitch: 0.0
+      roll: 0.0
       yaw: 1.0
     scale_linear:
       x: 0.5
@@ -33,6 +26,4 @@
     scale_linear_turbo:
       x: 1.0
       y: 0.0
-      z: 0.0
-    use_sim_time: false
-
+      z: 0.0

src/rove_bringup/config/usb_mapping.yaml

@@ -0,0 +1,24 @@
+/rove_controller_node:
+  ros__parameters:
+  # Buttons
+    A: 0
+    B: 1
+    X: 2
+    Y: 3
+    LB: 4
+    RB: 5
+    VIEW: 6
+    MENU: 7
+    XBOX: 8
+    LS: 9
+    RS: 10
+    SHARE: 11
+  # Axes
+    LS_X: 0
+    LS_Y: 1
+    LT: 2
+    RS_X: 3
+    RS_Y: 4
+    RT: 5
+    D_PAD_X: 6
+    D_PAD_Y: 7

src/rove_bringup/launch/rove_controller_bluethoot.launch.py

@@ -0,0 +1,38 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    package_name = 'rove_bringup'
+    dir = get_package_share_directory(package_name)
+    # Get params files
+    joy_params_file = dir + '/config/joy_params.yaml'
+    teleope_joy_params_file = dir + '/config/teleop_joy_params.yaml'
+    bluethoot_mapping_file = dir + '/config/bluethoot_mapping.yaml'
+
+    return LaunchDescription([
+        Node(
+            package='joy',
+            executable='joy_node',
+            name='game_controller_node',
+            output='screen',
+            parameters=[joy_params_file],
+        ),
+        Node(
+            package='teleop_twist_joy',
+            executable='teleop_node',
+            name='teleop_twist_joy_node',
+            parameters=[teleope_joy_params_file],
+            remappings=[
+                ('/joy', '/rove/joy'),
+                # ('/cmd_vel', '/model/rove/cmd_vel')
+            ],
+        ),
+        Node(
+            package=package_name,
+            executable='rove_controller_node',
+            name='rove_controller_node',
+            parameters=[bluethoot_mapping_file],
+            output='screen',
+        ),
+    ])

src/rove_bringup/launch/rove_controller.py → src/rove_bringup/launch/rove_controller_usb.launch.py

@@ -4,14 +4,16 @@
 
 def generate_launch_description():
     package_name = 'rove_bringup'
+    dir = get_package_share_directory(package_name)
     # Get params files
-    joy_params_file = get_package_share_directory(package_name) + '/config/joy_params.yaml'
-    teleope_joy_params_file = get_package_share_directory(package_name) + '/config/teleop_joy_params.yaml'
+    joy_params_file = dir + '/config/joy_params.yaml'
+    teleope_joy_params_file = dir + '/config/teleop_joy_params.yaml'
+    usb_mapping_file = dir + '/config/usb_mapping.yaml'
 
     return LaunchDescription([
         Node(
             package='joy',
-            executable='game_controller_node',
+            executable='joy_node',
             name='game_controller_node',
             output='screen',
             parameters=[joy_params_file],
@@ -23,13 +25,14 @@ def generate_launch_description():
             parameters=[teleope_joy_params_file],
             remappings=[
                 ('/joy', '/rove/joy'),
-                ('/cmd_vel', '/model/rove/cmd_vel')
+                # ('/cmd_vel', '/model/rove/cmd_vel')
             ],
         ),
         Node(
             package=package_name,
-            executable='rove_controller',
-            name='rove_controller',
+            executable='rove_controller_node',
+            name='rove_controller_node',
+            parameters=[usb_mapping_file],
             output='screen',
         ),
     ])