WIP: Mm teleop

.github/workflows/ros-build.yml

@@ -57,6 +57,11 @@ jobs:
                     echo ${skip_packages}
                     fi
                   done
+              else
+                # if amd, then clone the mirte_gazebo repo, otherwise skip it, arm doesnt have gazebo compiled (yet)
+                if [[ "${{ matrix.arch }}" == "amd64" ]]; then
+                  git clone https://github.com/mirte-robot/mirte-gazebo.git ./srcO/mirte_gazebo
+                fi
               fi
               # always skip generate_parameter_library example packages
               skip_packages+=" generate_parameter_library_example cmake_generate_parameter_module_example generate_parameter_library_example_external generate_parameter_module_example"

mirte_teleop/CMakeLists.txt

@@ -11,7 +11,9 @@ find_package(ament_cmake REQUIRED)
 # manually. find_package(<dependency> REQUIRED)
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-
+install(PROGRAMS  
+  scripts/mirte_master_arm.py  
+  DESTINATION lib/${PROJECT_NAME} )
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights comment the

mirte_teleop/README.md

@@ -0,0 +1,80 @@
+# Mirte teleop
+
+Sample teleoperation launch and scripts for MIRTE pioneer and master.
+
+
+## Teleop Key:
+This is an ugly hack to get input from the user, the launch file doesn't actually launch. Don't include this one in other launch files!
+
+
+## Teleop joy mm arm:
+Default settings are for an PS4 controller directly connected to the robot.
+Change includes to use xbox controller (probably)
+- drive:
+  - left stick for forward and rotate
+  - arrow buttons for move left right
+  - need to hold L1 for it to move.
+- Arm:
+  - right stick to move the arm. 
+  - Rotation is left-right
+  - Up down is done with up down of the stick. If the shoulder_lift servo is at the lowest position, the elbow and wrist start to move.
+  - Open gripper with X, close with O.
+- Shutdown robot with options button for 2 seconds.
+
+## Teleop joy ps4:
+PS4 controller works differently internally (/dev/jsX) than before, so joy-linux is required to read those inputs.
+Uses L1 (left button) as enable for cmd_vel.
+
+
+## Mirte master arm script:
+Controls the arm as described above (mm arm).
+
+
+
+# Connecting bluetooth controller directly to robot
+Make sure that bluez, teleop-twist-joy, joy and joy-linux are installed on the robot:
+```bash
+sudo apt install bluez bluetooth ros-humble-teleop-twist-joy ros-humble-joy ros-humble-joy-linux
+```
+
+Connect bluetooth controller:
+```bash
+sudo bluetoothctl
+        scan on
+        # hold and press share and PS button till fast blink
+        # find MAC of controller:
+        devices
+        pair <MAC>
+        connect <MAC>
+        trust <MAC>
+        exit
+```
+The controller should now have a blue bar and there should be a `/dev/js0` file.
+
+
+Sometimes you'll need to restart the bluetooth service after it to auto-connect and show up as `/dev/jsX`
+
+```bash
+sudo systemctl restart bluetooth.service
+```
+
+
+
+## Autostart on boot
+Add 
+```python
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        [
+                            PathJoinSubstitution(
+                                [
+                                    FindPackageShare("mirte_teleop"),
+                                    "launch",
+                                    "teleop_joy_mm_arm.launch.py",
+                                ]
+                            )
+                        ]
+                    )
+                )
+```
+to `src/mirte-ros-packages/mirte_bringup/launch/minimal_master.launch.py`, line 300.

mirte_teleop/launch/teleop_joy.launch.py

@@ -6,13 +6,19 @@
 def generate_launch_description():
     return LaunchDescription(
         [
+            # Node(
+            #     package="joy",
+            #     executable="joy_node",
+            #     name="joy_node",
+            #     parameters=[
+            #         {"dev": "/dev/input/js0", "deadzone": 0.1, "autorepeat_rate": 20.0}
+            #     ],
+            # ),
             Node(
-                package="joy",
-                executable="joy_node",
-                name="joy_node",
-                parameters=[
-                    {"dev": "/dev/input/js0", "deadzone": 0.1, "autorepeat_rate": 20.0}
-                ],
+                package="joy_linux",
+                executable="joy_linux_node",
+                name="joy_linux_node",
+                parameters=[{"deadzone": 0.1, "autorepeat_rate": 20.0}],
             ),
             Node(
                 package="teleop_twist_joy",

mirte_teleop/launch/teleop_joy_mm_arm.launch.py

@@ -0,0 +1,29 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import os
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+# works for ps4 controller
+# if other controller, maybe change the included launch file to teleop_joy.launch.py
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="mirte_teleop",
+                executable="mirte_master_arm.py",
+                name="mirte_master_arm",
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(
+                        get_package_share_directory("mirte_teleop"),
+                        "launch",
+                        "teleop_joy_ps4.launch.py",
+                    )
+                )
+            ),
+        ]
+    )

mirte_teleop/launch/teleop_joy_ps4.launch.py

@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+# works for ps4 controller
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            # Node(
+            #     package="joy",
+            #     executable="joy_node",
+            #     name="joy_node",
+            #     parameters=[
+            #         {"dev": "/dev/input/js0", "deadzone": 0.1, "autorepeat_rate": 20.0}
+            #     ],
+            # ),
+            Node(
+                package="joy_linux",
+                executable="joy_linux_node",
+                name="joy_linux_node",
+                parameters=[{"deadzone": 0.1, "autorepeat_rate": 20.0}],
+            ),
+            Node(
+                package="teleop_twist_joy",
+                executable="teleop_node",
+                name="teleop_joy_node",
+                parameters=[
+                    {
+                        "axis_linear.x": 1,
+                        "axis_angular.yaw": 0,
+                        "axis_linear.y": 6,
+                        "scale_linear.x": 1.0,
+                        "scale_linear.y": 1.0,
+                        "scale_angular.yaw": 4.0,
+                        "enable_button": 4,
+                        # 'scale_angular': 1.0
+                    }
+                ],
+                remappings=[("/cmd_vel", "/mirte_base_controller/cmd_vel")],
+            ),
+        ]
+    )

mirte_teleop/package.xml

@@ -11,9 +11,12 @@
 
   <exec_depend>teleop_twist_keyboard</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
-<!--  <exec_depend>joy</exec_depend>
+
+ <exec_depend>joy</exec_depend>
   <exec_depend>teleop_twist_joy</exec_depend>
--->
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>joy_linux</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>