feat: (arm) add JointJog for manual arm input

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,18 +1,17 @@
+import sys
+import threading
+import signal
+import math
+
 import rclpy
 from rclpy.node import Node
 from rclpy import qos
-import serial
-import sys
-import threading
-import glob
-import time
-import atexit
-import signal
+
 from std_msgs.msg import String, Header
 from sensor_msgs.msg import JointState
+from control_msgs.msg import JointJog
 from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
 from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
-import math
 
 # control_qos = qos.QoSProfile(
 #     history=qos.QoSHistoryPolicy.KEEP_LAST,
@@ -27,6 +26,22 @@ import math
 
 thread = None
 
+
+class ArmNode(Node):
+    """Relay between Anchor and Basestation/Headless/Moveit2 for Arm related topics."""
+
+    # Every non-fixed joint defined in Arm's URDF
+    # Used for JointState and JointJog messsages
+    all_joint_names = [
+        "axis_0_joint",
+        "axis_1_joint",
+        "axis_2_joint",
+        "axis_3_joint",
+        "wrist_yaw_joint",
+        "wrist_roll_joint",
+        "ef_gripper_left_joint",
+    ]
+
     # Used to verify the length of an incoming VicCAN feedback message
     # Key is VicCAN command_id, value is expected length of data list
     viccan_socket_msg_len_dict = {
@@ -36,14 +51,13 @@ viccan_socket_msg_len_dict = {
         58: 4,
         59: 4,
     }
+
     viccan_digit_msg_len_dict = {
         54: 4,
         55: 2,
         59: 2,
     }
 
-
-class ArmNode(Node):
     def __init__(self):
         super().__init__("arm_node")
 
@@ -67,7 +81,10 @@ class ArmNode(Node):
 
         # Control
 
-        # Manual: who tf knows. Maybe JointJog?
+        # Manual: /arm/manual_new is published by Servo or Basestation
+        self.jointjog_pub_ = self.create_subscription(
+            JointJog, "/arm/manual_new", self.jointjog_callback, 1
+        )
         # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
         self.joint_command_sub_ = self.create_subscription(
             JointState, "/joint_commands", self.joint_command_callback, 1
@@ -86,15 +103,7 @@ class ArmNode(Node):
             JointState, "joint_states", qos_profile=qos.qos_profile_sensor_data
         )
         self.saved_joint_state = JointState()
-        self.saved_joint_state.name = [
-            "axis_0_joint",
-            "axis_1_joint",
-            "axis_2_joint",
-            "axis_3_joint",
-            "wrist_yaw_joint",
-            "wrist_roll_joint",
-            "ef_gripper_left_joint",
-        ]
+        self.saved_joint_state.name = self.all_joint_names
         self.saved_joint_state.position = [0.0] * len(
             self.saved_joint_state.name
         )  # Initialize with zeros
@@ -128,6 +137,55 @@ class ArmNode(Node):
         except KeyboardInterrupt:
             pass
 
+    def jointjog_callback(self, msg: JointJog):
+        if (
+            len(msg.joint_names) == 0
+            or len(msg.velocities) == 0
+            or len(msg.joint_names) != len(msg.velocities)
+        ):
+            return  # Malformed message
+
+        # Grab velocities from message
+        velocities = [
+            (
+                msg.velocities[msg.joint_names.index(joint_name)]
+                if joint_name in msg.joint_names
+                else 0.0
+            )
+            for joint_name in self.all_joint_names
+        ]
+        # Deadzone
+        velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities]
+        # ROS2's rad/s to VicCAN's deg/s*10; don't convert gripper's m/s
+        velocities = [
+            math.degrees(vel) * 10 if i < 6 else vel for i, vel in enumerate(velocities)
+        ]
+        # Axis 2 & 3 URDF direction is inverted
+        velocities[2] = -velocities[2]
+        velocities[3] = -velocities[3]
+
+        # Send Axis 0-3
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm", command_id=43, data=velocities[0:3], header=msg.header
+            )
+        )
+        # Send Wrist yaw and roll
+        # TODO: Verify embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit", command_id=43, data=velocities[4:5], header=msg.header
+            )
+        )
+        # Send End Effector Gripper
+        # TODO: Verify m/s received correctly by embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit", command_id=26, data=[velocities[6]], header=msg.header
+            )
+        )
+        # TODO: use msg.duration
+
     def joint_command_callback(self, msg: JointState):
         if len(msg.position) < 7 and len(msg.velocity) < 7:
             return  # command needs either position or velocity for all 7 joints
@@ -217,8 +275,8 @@ class ArmNode(Node):
             return
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_socket_msg_len_dict:
-            expected_len = viccan_socket_msg_len_dict[msg.command_id]
+        if msg.command_id in self.viccan_socket_msg_len_dict:
+            expected_len = self.viccan_socket_msg_len_dict[msg.command_id]
             if len(msg.data) != expected_len:
                 self.get_logger().warning(
                     f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
@@ -308,8 +366,8 @@ class ArmNode(Node):
             return
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_digit_msg_len_dict:
-            expected_len = viccan_digit_msg_len_dict[msg.command_id]
+        if msg.command_id in self.viccan_digit_msg_len_dict:
+            expected_len = self.viccan_digit_msg_len_dict[msg.command_id]
             if len(msg.data) != expected_len:
                 self.get_logger().warning(
                     f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"