feat: add arm support to headless (headless_combine #16)

Create new headless_pkg with Core + Arm
Toggle with dpad up/down; up for arm, down for core

anchor.service

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+[Unit]
+Description=Autostart the anchor node for controlling the rover and its modules
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/auto_start_anchor.sh
+Restart=always
+RestartSec=5
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target

auto_start/auto_start_anchor.sh

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+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node with the desired mode
+ros2 launch rover_launch.py mode:=anchor

auto_start/auto_start_core_headless.sh

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+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node
+ros2 run core_pkg headless

auto_start/auto_start_headless_full.sh

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+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node
+ros2 run headless_pkg headless_full
+

core_headless.service

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+[Unit]
+Description=Autostart headless core node for controlling the rover without a base station
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/auto_start_core_headless.sh
+Restart=always
+RestartSec=10
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target

headless_full.service

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+[Unit]
+Description=Autostart headless core node for controlling the rover without a base station
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/auto_start_headless_full.sh
+Restart=always
+RestartSec=10
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target

src/headless_pkg/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>headless_pkg</name>
+  <version>1.0.0</version>
+  <description>Headless rover control package to handle command interpretation and embedded interfacing.</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
+  <license>All Rights Reserved</license>
+
+  <depend>rclpy</depend>
+  <depend>ros2_interfaces_pkg</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/headless_pkg/setup.cfg

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+[develop]
+script_dir=$base/lib/headless_pkg
+[install]
+install_scripts=$base/lib/headless_pkg

src/headless_pkg/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'headless_pkg'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='David Sharpe',
+    maintainer_email='ds0196@uah.edu',
+    description='Headless rover control package to handle command interpretation and embedded interfacing.',
+    license='All Rights Reserved',
+    entry_points={
+        'console_scripts': [
+            "headless_full = src.headless_node:main",
+        ],
+    },
+)

src/headless_pkg/src/headless_node.py

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+import rclpy
+from rclpy.node import Node
+
+import pygame
+
+import time
+
+import serial
+import sys
+import threading
+import glob
+import os
+
+import importlib
+from std_msgs.msg import String
+from ros2_interfaces_pkg.msg import CoreControl, ArmManual
+
+
+os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
+os.environ["SDL_AUDIODRIVER"] = "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
+
+
+max_speed = 90 #Max speed as a duty cycle percentage (1-100)
+
+core_stop_msg = CoreControl()
+core_stop_msg.left_stick = 0.0
+core_stop_msg.right_stick = 0.0
+core_stop_msg.max_speed = 0
+
+arm_stop_msg = ArmManual()
+arm_stop_msg.axis0 = 0
+arm_stop_msg.axis1 = 0
+arm_stop_msg.axis2 = 0
+arm_stop_msg.axis3 = 0
+arm_stop_msg.effector_roll = 0
+arm_stop_msg.effector_yaw = 0
+arm_stop_msg.gripper = 0
+arm_stop_msg.linear_actuator = 0
+arm_stop_msg.laser = 0
+
+ctrl_mode = "core"
+
+
+class Headless(Node):
+    def __init__(self):
+        # Initialize pygame first
+        pygame.init()
+        pygame.joystick.init()
+        
+        # Wait for a gamepad to be connected
+        self.gamepad = None
+        print("Waiting for gamepad connection...")
+        while pygame.joystick.get_count() == 0:
+            # Process any pygame events to keep it responsive
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    pygame.quit()
+                    sys.exit(0)
+            time.sleep(1.0)  # Check every second
+            print("No gamepad found. Waiting...")
+        
+        # Initialize the gamepad
+        self.gamepad = pygame.joystick.Joystick(0)
+        self.gamepad.init()
+        print(f'Gamepad Found: {self.gamepad.get_name()}')
+        
+        # Now initialize the ROS2 node
+        super().__init__("headless")
+        self.create_timer(0.15, self.send_controls)
+        self.core_publisher = self.create_publisher(CoreControl, '/core/control', 10)
+        self.arm_publisher = self.create_publisher(ArmManual, '/arm/control/manual', 10)
+
+    def run(self):
+        # This thread makes all the update processes run in the background
+        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+        thread.start()
+        
+        try:
+            while rclpy.ok():
+                self.send_controls()
+                time.sleep(0.1)  # Small delay to avoid CPU hogging
+        except KeyboardInterrupt:
+            sys.exit(0)
+
+    def send_controls(self):
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                sys.exit(0)
+        
+        # Check if controller is still connected
+        if pygame.joystick.get_count() == 0:
+            print("Gamepad disconnected. Exiting...")
+            # Send one last zero control message
+            self.core_publisher.publish(core_stop_msg)
+            self.arm_publisher.publish(arm_stop_msg)
+            self.get_logger().info("Final stop commands sent. Shutting down.")
+            # Clean up
+            pygame.quit()
+            sys.exit(0)
+
+
+        global ctrl_mode
+
+        # Check for control mode change
+        dpad_input = self.gamepad.get_hat(0)
+        if dpad_input[1] == 1:
+            ctrl_mode = "arm"
+        elif dpad_input[1] == -1:
+            ctrl_mode = "core"
+
+
+        # CORE
+        if ctrl_mode == "core":
+            input = CoreControl()
+            input.max_speed = max_speed
+
+            # Collect controller state
+            left_stick_y = deadzone(self.gamepad.get_axis(1))
+            right_stick_y = deadzone(self.gamepad.get_axis(4))
+            right_trigger = deadzone(self.gamepad.get_axis(5))
+
+
+            # Right wheels
+            input.right_stick = float(round(-1 * right_stick_y, 2))
+
+            # Left wheels
+            if right_trigger > 0:
+                input.left_stick = input.right_stick
+            else:
+                input.left_stick = float(round(-1 * left_stick_y, 2))
+
+
+            # Debug
+            output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}'
+            self.get_logger().info(f"[Ctrl] {output}")
+
+            self.core_publisher.publish(input)
+            self.arm_publisher.publish(arm_stop_msg)
+
+
+        # ARM
+        if ctrl_mode == "arm":
+            input = ArmManual()
+            
+            # Collect controller state
+            left_stick_x = deadzone(self.gamepad.get_axis(0))
+            left_stick_y = deadzone(self.gamepad.get_axis(1))
+            left_trigger = deadzone(self.gamepad.get_axis(2))
+            right_stick_x = deadzone(self.gamepad.get_axis(3))
+            right_stick_y = deadzone(self.gamepad.get_axis(4))
+            right_trigger = deadzone(self.gamepad.get_axis(5))
+            right_bumper = self.gamepad.get_button(5)
+            dpad_input = self.gamepad.get_hat(0)
+
+
+            # EF Grippers
+            if left_trigger > 0 and right_trigger > 0:
+                input.gripper = 0
+            elif left_trigger > 0:
+                input.gripper = -1
+            elif right_trigger > 0:
+                input.gripper = 1
+
+            # Axis 0
+            if dpad_input[0] == 1:
+                input.axis0 = 1
+            elif dpad_input[0] == -1:
+                input.axis0 = -1
+
+
+            if right_bumper:  # Control end effector
+
+                # Effector yaw
+                if left_stick_x > 0:
+                    input.effector_yaw = 1
+                elif left_stick_x < 0:
+                    input.effector_yaw = -1
+
+                # Effector roll
+                if right_stick_x > 0:
+                    input.effector_roll = 1
+                elif right_stick_x < 0:
+                    input.effector_roll = -1
+
+            else:   # Control arm axis
+
+                # Axis 1
+                if abs(left_stick_x) > .15:
+                    input.axis1 = round(left_stick_x)
+
+                # Axis 2
+                if abs(left_stick_y) > .15:
+                    input.axis2 = -1 * round(left_stick_y)
+
+                # Axis 3
+                if abs(right_stick_y) > .15:
+                    input.axis3 = -1 * round(right_stick_y)
+
+            self.core_publisher.publish(core_stop_msg)
+            self.arm_publisher.publish(input)
+
+
+def deadzone(value: float, threshold=0.05) -> float:
+    if abs(value) < threshold:
+        return 0
+    return value
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = Headless()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()