feat: (core) make compatible with ros2_control

src/anchor_pkg/launch/rover.launch.py

@@ -48,7 +48,10 @@ def launch_setup(context, *args, **kwargs):
                 executable="core",  # change as needed
                 name="core",
                 output="both",
-                parameters=[{"launch_mode": mode}],
+                parameters=[
+                    {"launch_mode": mode},
+                    {"use_ros2_control": LaunchConfiguration("use_ros2_control", default=False)},
+                ],
                 on_exit=Shutdown(),
             )
         )

src/core_pkg/core_pkg/core_node.py

@@ -66,6 +66,10 @@ class SerialRelay(Node):
         self.launch_mode = self.get_parameter("launch_mode").value
         self.get_logger().info(f"Core launch_mode is: {self.launch_mode}")
 
+        self.declare_parameter("use_ros2_control", False)
+        self.use_ros2_control = self.get_parameter("use_ros2_control").value
+        self.get_logger().info(f"Use ros2_control: {self.use_ros2_control}")
+
         ##################################################
         # Topics
 
@@ -85,6 +89,12 @@ class SerialRelay(Node):
 
         # Control
 
+        if self.use_ros2_control:
+            # Joint state control for topic-based controller
+            self.joint_command_sub_ = self.create_subscription(
+                JointState, "/core/joint_commands", self.joint_command_callback, 2
+            )
+        else:
             # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
             self.cmd_vel_sub_ = self.create_subscription(
                 TwistStamped, "/cmd_vel", self.cmd_vel_callback, 1
@@ -100,9 +110,7 @@ class SerialRelay(Node):
                 self.control_state_callback,
                 qos_profile=control_qos,
             )
-        self.twist_max_duty = (
+            self.twist_max_duty = 0.5  # max duty cycle for twist commands (0.0 - 1.0); walking speed is 0.5
-            0.5  # max duty cycle for twist commands (0.0 - 1.0); walking speed is 0.5
-        )
 
         # Feedback
 
@@ -122,7 +130,7 @@ class SerialRelay(Node):
         )  # TODO: not sure about this
         # Joint states for topic-based controller
         self.joint_state_pub_ = self.create_publisher(
-            JointState, "/core/joint_states", qos_profile=qos.qos_profile_sensor_data
+            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
         )
         # IMU (embedded BNO-055)
         self.imu_pub_ = self.create_publisher(
@@ -148,6 +156,7 @@ class SerialRelay(Node):
 
         # Old
 
+        if not self.use_ros2_control:
             # /core/control
             self.control_sub = self.create_subscription(
                 CoreControl, "/core/control", self.send_controls, 10
@@ -283,6 +292,40 @@ class SerialRelay(Node):
 
         # print(f"[Sys] Relaying: {command}")
 
+    def joint_command_callback(self, msg: JointState):
+        # So... topic based control node publishes JointState messages over /joint_commands
+        #  with len(msg.name) == 5 and len(msg.velocity) == 4... all 5 non-fixed joints
+        #  are included in msg.name, but ig it is implied that msg.velocity only
+        #  includes velocities for the commanded joints (ros__parameters.joints).
+        # So, this will be much more hacky and less adaptable than I would like it to be.
+        if len(msg.name) != 5 or len(msg.velocity) != 4 or len(msg.position) != 0:
+            self.get_logger().warning(
+                f"Received joint control message with unexpected number of joints. Ignoring."
+            )
+            return
+        if msg.name != [
+            "left_suspension_joint",
+            "bl_wheel_joint",
+            "br_wheel_joint",
+            "fl_wheel_joint",
+            "fr_wheel_joint",
+        ]:
+            self.get_logger().warning(
+                f"Received joint control message with unexpected name[]. Ignoring."
+            )
+            return
+
+        (bl_vel, br_vel, fl_vel, fr_vel) = msg.velocity
+
+        bl_rpm = radps_to_rpm(bl_vel) * CORE_GEAR_RATIO
+        br_rpm = radps_to_rpm(br_vel) * CORE_GEAR_RATIO
+        fl_rpm = radps_to_rpm(fl_vel) * CORE_GEAR_RATIO
+        fr_rpm = radps_to_rpm(fr_vel) * CORE_GEAR_RATIO
+
+        self.send_viccan(
+            20, [fl_rpm, bl_rpm, fr_rpm, br_rpm]
+        )  # order expected by embedded
+
     def cmd_vel_callback(self, msg: TwistStamped):
         linear = msg.twist.linear.x
         angular = -msg.twist.angular.z
@@ -528,22 +571,27 @@ class SerialRelay(Node):
                 match motorId:
                     case 1:
                         motor = self.feedback_new_state.fl_motor
-                        joint_state_msg.name = ["fl_motor_joint"]
+                        joint_state_msg.name = ["fl_wheel_joint"]
                     case 2:
                         motor = self.feedback_new_state.bl_motor
-                        joint_state_msg.name = ["bl_motor_joint"]
+                        joint_state_msg.name = ["bl_wheel_joint"]
                     case 3:
                         motor = self.feedback_new_state.fr_motor
-                        joint_state_msg.name = ["fr_motor_joint"]
+                        joint_state_msg.name = ["fr_wheel_joint"]
                     case 4:
                         motor = self.feedback_new_state.br_motor
-                        joint_state_msg.name = ["br_motor_joint"]
+                        joint_state_msg.name = ["br_wheel_joint"]
                     case _:
                         self.get_logger().warning(
                             f"Ignoring REV motor feedback 58 with invalid motorId {motorId}"
                         )
                         return
 
+                # make the fucking shit work
+                joint_state_msg.name.append("left_suspension_joint")
+                joint_state_msg.position.append(0.0)
+                joint_state_msg.velocity.append(0.0)
+
                 joint_state_msg.header.stamp = msg.header.stamp
                 self.joint_state_pub_.publish(joint_state_msg)
             case _:
@@ -581,6 +629,10 @@ def map_range(
     return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 
 
+def radps_to_rpm(radps: float):
+    return radps * 60 / (2 * pi)
+
+
 def main(args=None):
     rclpy.init(args=args)
     sys.excepthook = myexcepthook