Merge branch 'main' into 10-gps-navigation

Author: Fastroof

config/joystick.yaml

@@ -0,0 +1,24 @@
+joy_node:
+  ros__parameters:
+    device_id: 0
+    deadzone: 0.05
+    autorepeat_rate: 20.0
+
+teleop_node:
+  ros__parameters:
+    axis_linear:  # Left thumb stick vertical
+      x: 1
+    scale_linear:
+      x: 0.5
+    scale_linear_turbo:
+      x: 1.0
+
+    axis_angular:  # Left thumb stick horizontal
+      yaw: 0
+    scale_angular:
+      yaw: 1.0
+    scale_angular_turbo:
+      yaw: 1.0
+
+    require_enable_button: false
+    enable_turbo_button: 7  # Right shoulder button

launch/joystick.launch.py

@@ -0,0 +1,30 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    joy_params = os.path.join(get_package_share_directory('apricotka-robot-car'), 'config', 'joystick.yaml')
+
+    joy_node = Node(
+            package='joy',
+            executable='joy_node',
+            parameters=[joy_params],
+        )
+
+    teleop_node = Node(
+            package='teleop_twist_joy',
+            executable='teleop_node',
+            name='teleop_node',
+            parameters=[joy_params, {'publish_stamped_twist': True, 'frame': 'base_link'}],
+            remappings=[('/cmd_vel', '/diff_drive_base_controller/cmd_vel')]
+        )
+
+    ld = LaunchDescription()
+
+    ld.add_action(joy_node)
+    ld.add_action(teleop_node)
+
+    return ld

launch/launch_gzui.launch.py

@@ -0,0 +1,35 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    package_name = 'apricotka-robot-car'
+    ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': '-g -v4 '}.items()
+    )
+
+    joystick_launch_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory(package_name), 'launch', 'joystick.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(DeclareLaunchArgument('use_sim_time', default_value='true', description='Use simulation (Gazebo) clock if true'))
+    ld.add_action(gzclient_cmd)
+    ld.add_action(joystick_launch_cmd)
+
+    return ld

launch/launch_sim.launch.py

@@ -30,12 +30,6 @@ def generate_launch_description():
         ),
         launch_arguments={'gz_args': ['-r -s -v4 ', world], 'on_exit_shutdown': 'true'}.items()
     )
-    gzclient_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
-        ),
-        launch_arguments={'gz_args': '-g -v4 '}.items()
-    )
     rsp_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(
             package,'launch','rsp.launch.py')]
@@ -119,7 +113,6 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     ld.add_action(gzserver_cmd)
-    ld.add_action(gzclient_cmd)
     ld.add_action(rsp_cmd)
     ld.add_action(spawn_robot_cmd)
     ld.add_action(load_joint_state_broadcaster)

launch/rsp.launch.py

@@ -32,5 +32,9 @@ def generate_launch_description():
             executable='robot_state_publisher',
             name='robot_state_publisher',
             output='screen',
-            parameters=[{'robot_description': robot_description_config, 'use_sim_time': use_sim_time}])
-    ])
+            parameters=[{
+                'robot_description': robot_description_config,
+                'use_sim_time': use_sim_time
+            }]
+        )
+    ])

package.xml

@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>ros_sw</description>
   <maintainer email="fastroof@todo.todo">fastroof</maintainer>
-  <license>TODO: License declaration</license>
+  <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -18,7 +18,17 @@
   <depend>mapviz_plugins</depend>
   <depend>tile_map</depend>
   <depend>ros2_control</depend>
-
+  <depend>joy</depend>
+  <depend>teleop_twist_joy</depend>
+  <depend>xacro</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>ros_gz_bridge</depend>
+  <depend>ros_gz_image</depend>
+  <depend>gz_ros2_control</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>diff_drive_controller</depend>
+    
   <export>
     <build_type>ament_cmake</build_type>
   </export>