aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 09:20:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

feat: add rumble on headless ready, change turn to cubic

Browse Source 
Controller rumbles for 200ms when __init__() finishes, and angular is now cubic so turning control follows a curve rather than a straight line (y=x^3 instead of y=x)
This commit is contained in:
David
2025-09-10 22:59:27 -05:00
parent 882cbc5949
commit 858e03f385
1 changed files with 4 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/headless_pkg/src/headless_node.py
View File

@@ -91,12 +91,6 @@ class Headless(Node):
self.gamepad.init()
print(f'Gamepad Found: {self.gamepad.get_name()}')
# Rumble when gamepad connected (if supported)
if self.gamepad.get_axis_count() > 0: # type: ignore
# check for rumble support
if hasattr(self.gamepad, 'get_rumble'):
self.gamepad.rumble(0.4, 0.6, 200)
# Now initialize the ROS2 node
super().__init__("headless")
self.create_timer(0.15, self.send_controls)
@@ -104,6 +98,9 @@ class Headless(Node):
self.arm_publisher = self.create_publisher(ArmManual, '/arm/control/manual', 10)
self.core_twist_pub_ = self.create_publisher(Twist, '/core/twist', qos_profile=control_qos)
self.core_state_pub_ = self.create_publisher(CoreCtrlState, '/core/control/state', qos_profile=control_qos)
# Rumble when node is ready (returns False if not supported)
self.gamepad.rumble(0.4, 0.6, 150)
def run(self):
# This thread makes all the update processes run in the background
@@ -185,7 +182,7 @@ class Headless(Node):
# Forward/back and Turn
input.linear.x = -1.0 * left_stick_y
input.angular.z = -1.0 * right_stick_x
input.angular.z = -1.0 * right_stick_x ** 3 # Cubic for finer control (curve)
# Publish
self.core_twist_pub_.publish(input)