Initial commit, add all current packages

src/headless_pkg/headless_pkg/headless_ctrl_node.py

@@ -0,0 +1,132 @@
+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
+
+
+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 = 75 #Max speed as a duty cycle percentage (1-100)
+
+class Headless(Node):
+    def __init__(self):
+        # Initalize node with name
+        super().__init__("headless_ctrl")
+
+        self.create_timer(0.20, self.send_controls)
+
+
+        # Create a publisher to publish any output the pico sends
+        self.publisher = self.create_publisher(CoreControl, '/core/control', 10) 
+
+
+        self.lastMsg = String() #Used to ignore sending controls repeatedly when they do not change
+
+        pygame.init()
+
+        # Initialize the gamepad module
+        pygame.joystick.init()
+
+        # Check if any gamepad is connected
+        if pygame.joystick.get_count() == 0:
+            print("No gamepad found.")
+            pygame.quit()
+            exit()
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                exit()
+
+        # Initialize the first gamepad, print name to terminal
+        self.gamepad = pygame.joystick.Joystick(0)
+        self.gamepad.init()
+        print(f'Gamepad Found: {self.gamepad.get_name()}')
+        #
+        #
+
+
+    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():
+                #Check the pico for updates
+                self.send_controls()
+
+                if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
+                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
+                    
+                    while pygame.joystick.get_count() == 0:
+                        self.send_controls()
+                    self.gamepad = pygame.joystick.Joystick(0)
+                    self.gamepad.init() #re-initialized gamepad
+                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
+                    
+
+        except KeyboardInterrupt:
+            sys.exit(0)
+        
+
+    def send_controls(self):
+        
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                exit()
+        input = CoreControl()
+
+        input.max_speed = max_speed
+
+        input.right_stick = round(self.gamepad.get_axis(4),2)#right y-axis
+        if self.gamepad.get_axis(5) > 0:
+            input.left_stick = input.right_stick
+        else:
+            input.left_stick = round(self.gamepad.get_axis(1),2)#lext y-axis
+
+
+
+        if pygame.joystick.get_count() != 0:
+            output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}' #stop the rover if there is no controller connected
+            self.get_logger().info(f"[Ctrl] {output}")
+            self.publisher.publish(input)
+        else:
+            input.left_stick = 0
+            input.right_stick = 0
+            input.max_speed = 0
+            self.get_logger().info(f"[Ctrl] Stopping. No Gamepad Connected. ")
+            self.publisher.publish(input)
+
+
+        
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = Headless()
+    
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+    #tb_bs = BaseStation()
+    #node.run()
+
+
+if __name__ == '__main__':
+    main()

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>Package used for headless rover control with a controller</description>
+  <maintainer email="tristanmcginnis26@gmail.com">tristan</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='0.0.0',
+    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='tristan',
+    maintainer_email='tristanmcginnis26@gmail.com',
+    description='Package used for headless rover control with a controller',
+    license='All Rights Reserved',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'headless = headless_pkg.headless_ctrl_node:main'
+        ],
+    },
+)

src/headless_pkg/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/headless_pkg/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/headless_pkg/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'