refactor: remedy QoS profiles

-> python 3.13

flake.nix

@@ -25,7 +25,7 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python312.withPackages (
+            (python313.withPackages (
               p: with p; [
                 pyserial
                 pygame

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,92 +1,39 @@
-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 astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
-from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
 import math
 
-# control_qos = qos.QoSProfile(
+import rclpy
-#     history=qos.QoSHistoryPolicy.KEEP_LAST,
+from rclpy.node import Node
-#     depth=1,
+from rclpy.executors import ExternalShutdownException
-#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+from rclpy import qos
-#     durability=qos.QoSDurabilityPolicy.VOLATILE,
+
-#     deadline=1000,
+from std_msgs.msg import String, Header
-#     lifespan=500,
+from sensor_msgs.msg import JointState
-#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+from control_msgs.msg import JointJog
-#     liveliness_lease_duration=5000
+from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
-# )
+from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
+
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    depth=2,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
+)
 
 thread = None
 
-# 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 = {
-    53: 4,
-    54: 4,
-    55: 4,
-    58: 4,
-    59: 4,
-}
-viccan_digit_msg_len_dict = {
-    54: 4,
-    55: 2,
-    59: 2,
-}
-
 
 class ArmNode(Node):
-    def __init__(self):
+    """Relay between Anchor and Basestation/Headless/Moveit2 for Arm related topics."""
-        super().__init__("arm_node")
 
-        self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
+    # Every non-fixed joint defined in Arm's URDF
-
+    # Used for JointState and JointJog messsages
-        ##################################################
+    all_joint_names = [
-        # Topics
-
-        # Anchor topics
-        self.anchor_fromvic_sub_ = self.create_subscription(
-            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
-        )
-        self.anchor_tovic_pub_ = self.create_publisher(
-            VicCAN, "/anchor/to_vic/relay", 20
-        )
-
-        self.anchor_sub = self.create_subscription(
-            String, "/anchor/arm/feedback", self.anchor_feedback, 10
-        )
-        self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
-
-        # Control
-
-        # Manual: who tf knows. Maybe JointJog?
-        # 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
-        )
-
-        # Feedback
-
-        self.arm_feedback_pub_ = self.create_publisher(
-            ArmFeedback,
-            "/arm/feedback/new_feedback",
-            qos_profile=qos.qos_profile_sensor_data,
-        )
-        self.arm_feedback_new = ArmFeedback()
-        # IK: /joint_states is published from here to topic_based_control
-        self.joint_state_pub_ = self.create_publisher(
-            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",
@@ -95,14 +42,43 @@ class ArmNode(Node):
         "wrist_roll_joint",
         "ef_gripper_left_joint",
     ]
-        self.saved_joint_state.position = [0.0] * len(
-            self.saved_joint_state.name
-        )  # Initialize with zeros
-        self.saved_joint_state.velocity = [0.0] * len(
-            self.saved_joint_state.name
-        )  # Initialize with zeros
 
-        # Old
+    # 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 = {
+        53: 4,
+        54: 4,
+        55: 4,
+        58: 4,
+        59: 4,
+    }
+
+    viccan_digit_msg_len_dict = {
+        54: 4,
+        55: 2,
+        59: 2,
+    }
+
+    def __init__(self):
+        super().__init__("arm_node")
+
+        self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
+
+        ##################################################
+        # Parameters
+
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = self.get_parameter("use_old_topics").get_parameter_value().bool_value
+
+        ##################################################
+        # Old topics
+
+        if self.use_old_topics:
+            # Anchor topics
+            self.anchor_sub = self.create_subscription(
+                String, "/anchor/arm/feedback", self.anchor_feedback, 10
+            )
+            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
 
             # Create publishers
             self.socket_pub = self.create_publisher(
@@ -118,15 +94,105 @@ class ArmNode(Node):
                 ArmManual, "/arm/control/manual", self.send_manual, 10
             )
 
-    def run(self):
+        ###################################################
-        global thread
+        # New topics
-        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
-        thread.start()
 
-        try:
+        # Anchor topics
-            thread.join()
+
-        except KeyboardInterrupt:
+        # from_vic
-            pass
+        self.anchor_fromvic_sub_ = self.create_subscription(
+            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
+        )
+        # to_vic
+        self.anchor_tovic_pub_ = self.create_publisher(
+            VicCAN, "/anchor/to_vic/relay", 20
+        )
+
+        # Control
+
+        # Manual: /arm/manual_new is published by Servo or Basestation
+        self.jointjog_pub_ = self.create_subscription(
+            JointJog, "/arm/manual_new", self.jointjog_callback, qos_profile=control_qos
+        )
+        # 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, qos_profile=control_qos
+        )
+
+        # Feedback
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_pub_ = self.create_publisher(
+            ArmFeedback,
+            "/arm/feedback/new_feedback",
+            qos_profile=qos.qos_profile_sensor_data,
+        )
+        # IK arm pose: /joint_states is published from here to topic_based_control
+        self.joint_state_pub_ = self.create_publisher(
+            JointState, "joint_states", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        ###################################################
+        # Saved state
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_new = ArmFeedback()
+
+        # IK Arm pose
+        self.saved_joint_state = JointState()
+        self.saved_joint_state.name = self.all_joint_names
+        # ... initialize with zeros
+        self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name)
+        self.saved_joint_state.velocity = [0.0] * len(self.saved_joint_state.name)
+
+    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:
@@ -153,6 +219,7 @@ class ArmNode(Node):
         self.anchor_tovic_pub_.publish(digit_cmd)
 
     def send_manual(self, msg: ArmManual):
+        """TODO: Old"""
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
         axis2 = msg.axis2
@@ -166,7 +233,7 @@ class ArmNode(Node):
 
         command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
 
-        # command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
+        command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
 
         command += f"can_relay_tovic,digit,28,{msg.laser}\n"
 
@@ -177,10 +244,12 @@ class ArmNode(Node):
         return
 
     def send_cmd(self, msg: str):
+        """TODO: Old"""
         output = String(data=msg)
         self.anchor_pub.publish(output)
 
     def anchor_feedback(self, msg: String):
+        """TODO: Old"""
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
             self.updateAngleFeedback(output)
@@ -217,8 +286,8 @@ class ArmNode(Node):
             return
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_socket_msg_len_dict:
+        if msg.command_id in self.viccan_socket_msg_len_dict:
-            expected_len = viccan_socket_msg_len_dict[msg.command_id]
+            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 +377,8 @@ class ArmNode(Node):
             return
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_digit_msg_len_dict:
+        if msg.command_id in self.viccan_digit_msg_len_dict:
-            expected_len = viccan_digit_msg_len_dict[msg.command_id]
+            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)})"
@@ -330,10 +399,12 @@ class ArmNode(Node):
                 )  # Wrist yaw
 
     def publish_feedback(self):
+        """TODO: Old"""
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
     def updateAngleFeedback(self, msg: str):
+        """TODO: Old"""
         # Angle feedbacks,
         # split the msg.data by commas
         parts = msg.split(",")
@@ -352,6 +423,7 @@ class ArmNode(Node):
             self.get_logger().info("Invalid angle feedback input format")
 
     def updateBusVoltage(self, msg: str):
+        """TODO: Old"""
         # Bus Voltage feedbacks
         parts = msg.split(",")
         if len(parts) >= 7:
@@ -366,6 +438,7 @@ class ArmNode(Node):
             self.get_logger().info("Invalid voltage feedback input format")
 
     def updateMotorFeedback(self, msg: str):
+        """TODO: Old"""
         parts = str(msg.strip()).split(",")
         motorId = round(float(parts[3]))
         temp = float(parts[4]) / 10.0
@@ -393,7 +466,14 @@ def main(args=None):
     rclpy.init(args=args)
 
     arm_node = ArmNode()
-    arm_node.run()
+    thread = threading.Thread(target=rclpy.spin, args=(arm_node,), daemon=True)
+    thread.start()
+
+    try:
+        thread.join()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
         rclpy.try_shutdown()
 
 

src/core_pkg/core_pkg/core_node.py

@@ -33,12 +33,12 @@ CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
 # Used to verify the length of an incoming VicCAN feedback message

src/headless_pkg/src/headless_node.py

@@ -41,31 +41,38 @@ control_qos = qos.QoSProfile(
     depth=2,
     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
-arm_ik_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
-    depth=1,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
-)
-
-CORE_MODE = "twist"  # "twist" or "duty"
 
 STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05"))
 
 
 class Headless(Node):
+    # 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",
+    ]
+
     def __init__(self):
         # Initialize pygame first
         pygame.init()
         pygame.joystick.init()
         super().__init__("headless")
 
+        ##################################################
+        # Preamble
+
         # Wait for anchor to start
         pub_info = self.get_publishers_info_by_topic("/anchor/from_vic/debug")
         while len(pub_info) == 0:
@@ -116,30 +123,23 @@ class Headless(Node):
                 break
             id += 1
 
-        self.create_timer(0.1, self.send_controls)
+        ##################################################
+        # Parameters
 
-        self.core_publisher = self.create_publisher(CoreControl, "/core/control", 2)
+        self.declare_parameter("use_old_topics", True)
-        self.arm_publisher = self.create_publisher(ArmManual, "/arm/control/manual", 2)
+        self.use_old_topics = (
-        self.arm_ik_twist_publisher = self.create_publisher(
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
-            TwistStamped, "/servo_node/delta_twist_cmds", arm_ik_qos
-        )
-        self.arm_ik_jointjog_publisher = self.create_publisher(
-            JointJog, "/servo_node/delta_joint_cmds", arm_ik_qos
-        )
-        self.bio_publisher = self.create_publisher(BioControl, "/bio/control", 2)
-
-        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
         )
 
         self.declare_parameter("arm_mode", "manual")
-        self.arm_mode = self.get_parameter("arm_mode").value
+        self.arm_mode = (
+            self.get_parameter("arm_mode").get_parameter_value().string_value
+        )
 
         self.declare_parameter("arm_manual_scheme", "old")
-        self.arm_manual_scheme = self.get_parameter("arm_manual_scheme").value
+        self.arm_manual_scheme = (
+            self.get_parameter("arm_manual_scheme").get_parameter_value().string_value
+        )
 
         # Check parameter validity
         if self.arm_mode not in ["manual", "ik"]:
@@ -151,6 +151,49 @@ class Headless(Node):
                 f"Invalid value '{self.arm_manual_scheme}' for arm_manual_scheme parameter. Defaulting to 'old' ('24 and '25 controls)."
             )
 
+        self.ctrl_mode = "core"  # Start in core mode
+        self.core_brake_mode = False
+        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+
+        ##################################################
+        # Old Topics
+
+        if self.use_old_topics:
+            self.core_publisher = self.create_publisher(CoreControl, "/core/control", 2)
+            self.arm_publisher = self.create_publisher(
+                ArmManual, "/arm/control/manual", 2
+            )
+            self.bio_publisher = self.create_publisher(BioControl, "/bio/control", 2)
+
+        ##################################################
+        # New Topics
+
+        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
+        )
+
+        self.arm_manual_pub_ = self.create_publisher(
+            JointJog, "/arm/manual_new", qos_profile=control_qos
+        )
+
+        self.arm_ik_twist_publisher = self.create_publisher(
+            TwistStamped, "/servo_node/delta_twist_cmds", qos_profile=control_qos
+        )
+        self.arm_ik_jointjog_publisher = self.create_publisher(
+            JointJog, "/servo_node/delta_joint_cmds", qos_profile=control_qos
+        )
+
+        ##################################################
+        # Timers
+
+        self.create_timer(0.1, self.send_controls)
+
+        ##################################################
+        # Services
+
         # If using IK control, we have to "start" the servo node to enable it to accept commands
         self.servo_start_client = None
         if self.arm_mode == "ik":
@@ -170,13 +213,17 @@ class Headless(Node):
             if self.servo_start_client.service_is_ready():
                 self.servo_start_client.call_async(Trigger.Request())
 
-        self.ctrl_mode = "core"  # Start in core mode
-        self.core_brake_mode = False
-        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
-
         # Rumble when node is ready (returns False if rumble not supported)
         self.gamepad.rumble(0.7, 0.8, 150)
 
+    def stop_all(self):
+        if self.use_old_topics:
+            self.core_publisher.publish(CORE_STOP_MSG)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            self.bio_publisher.publish(BIO_STOP_MSG)
+        else:
+            self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
+
     def send_controls(self):
         """Read the gamepad state and publish control messages"""
         for event in pygame.event.get():
@@ -187,10 +234,8 @@ class Headless(Node):
         # Check if controller is still connected
         if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
-            # Send one last zero control message
+            # Stop the rover if controller disconnected
-            self.core_publisher.publish(CORE_STOP_MSG)
+            self.stop_all()
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            self.bio_publisher.publish(BIO_STOP_MSG)
             self.get_logger().info("Final stop commands sent. Shutting down.")
             # Clean up
             pygame.quit()
@@ -206,22 +251,41 @@ class Headless(Node):
             new_ctrl_mode = "core"
 
         if new_ctrl_mode != self.ctrl_mode:
-            self.core_publisher.publish(CORE_STOP_MSG)
+            self.stop_all()
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            self.bio_publisher.publish(BIO_STOP_MSG)
             self.gamepad.rumble(0.6, 0.7, 75)
             self.ctrl_mode = new_ctrl_mode
             self.get_logger().info(f"Switched to {self.ctrl_mode} control mode")
 
-        # CORE
+        # Actually send the controls
-        if self.ctrl_mode == "core" and CORE_MODE == "duty":
+        if self.ctrl_mode == "core":
-            input = CoreControl()
+            self.send_core()
-            input.max_speed = 90
+            if self.use_old_topics:
+                self.arm_publisher.publish(ARM_STOP_MSG)
+        else:
+            self.send_arm()
+            # self.send_bio()
+            if self.use_old_topics:
+                self.core_publisher.publish(CORE_STOP_MSG)
 
+    def send_core(self):
         # 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))
+        button_a = self.gamepad.get_button(0)
+        button_b = self.gamepad.get_button(1)
+        button_x = self.gamepad.get_button(2)
+        button_y = self.gamepad.get_button(3)
+        left_bumper = self.gamepad.get_button(4)
+        right_bumper = self.gamepad.get_button(5)
+        dpad_input = self.gamepad.get_hat(0)
+
+        if self.use_old_topics:
+            input = CoreControl()
+            input.max_speed = 90
 
             # Right wheels
             input.right_stick = float(round(-1 * right_stick_y, 2))
@@ -238,16 +302,9 @@ class Headless(Node):
 
             self.core_publisher.publish(input)
 
-        elif self.ctrl_mode == "core" and CORE_MODE == "twist":
+        else:  # New topics
             input = Twist()
 
-            # Collect controller state
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
-            right_stick_x = deadzone(self.gamepad.get_axis(3))
-            button_a = self.gamepad.get_button(0)
-            left_bumper = self.gamepad.get_button(4)
-            right_bumper = self.gamepad.get_button(5)
-
             # Forward/back and Turn
             input.linear.x = -1.0 * left_stick_y
             input.angular.z = -1.0 * copysign(
@@ -280,15 +337,13 @@ class Headless(Node):
                 state_msg = CoreCtrlState()
                 state_msg.brake_mode = bool(self.core_brake_mode)
                 state_msg.max_duty = float(self.core_max_duty)
+
                 self.core_state_pub_.publish(state_msg)
                 self.get_logger().info(
                     f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}"
                 )
 
-        # ARM and BIO
+    def send_arm(self):
-        if self.ctrl_mode == "arm" and self.arm_mode == "manual":
-            arm_input = ArmManual()
-
         # Collect controller state
         left_stick_x = deadzone(self.gamepad.get_axis(0))
         left_stick_y = deadzone(self.gamepad.get_axis(1))
@@ -304,6 +359,11 @@ class Headless(Node):
         right_bumper = self.gamepad.get_button(5)
         dpad_input = self.gamepad.get_hat(0)
 
+        # OLD MANUAL
+        if self.arm_mode == "manual" and self.use_old_topics:
+            arm_input = ArmManual()
+
+            # OLD ARM CONTROL SCHEME
             if self.arm_manual_scheme == "old":
                 # EF Grippers
                 if left_trigger > 0 and right_trigger > 0:
@@ -347,6 +407,7 @@ class Headless(Node):
                     if abs(right_stick_y) > 0.15:
                         arm_input.axis3 = -1 * round(right_stick_y)
 
+            # NEW ARM CONTROL SCHEME
             if self.arm_manual_scheme == "new":
                 # Right stick: EF yaw and axis 3
                 # Left stick: axis 1 and 2
@@ -409,22 +470,70 @@ class Headless(Node):
                 else:
                     arm_input.linear_actuator = 0
 
-
-            # BIO
-            bio_input = BioControl(
-                bio_arm=int(left_stick_y * -100),
-                drill_arm=int(round(right_stick_y) * -100),
-            )
-
-            # Drill motor (FAERIE)
-            if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
-                bio_input.drill = int(
-                    30 * (right_trigger - left_trigger)
-                )  # Max duty cycle 30%
-
             self.arm_publisher.publish(arm_input)
 
-        if self.ctrl_mode == "arm" and self.arm_mode == "ik":
+        # NEW MANUAL
+        elif self.arm_mode == "manual" and not self.use_old_topics:
+            arm_input = JointJog()
+            arm_input.header.frame_id = "base_link"
+            arm_input.header.stamp = self.get_clock().now().to_msg()
+            arm_input.joint_names = self.all_joint_names
+            arm_input.velocities = [0.0] * len(self.all_joint_names)
+
+            # Right stick: EF yaw and axis 3
+            # Left stick: axis 1 and 2
+            # D-pad: axis 0 and _
+            # Triggers: EF grippers
+            # Bumpers: EF roll
+            # A: brake
+            # B: linear actuator in
+            # X: _
+            # Y: linear actuator out
+
+            ARM_THRESHOLD = 0.2
+
+            # Right stick: EF yaw and axis 3
+            arm_input.velocities[self.all_joint_names.index("wrist_yaw_joint")] = (
+                float(copysign(1, right_stick_x)) if abs(right_stick_x) >= ARM_THRESHOLD else 0.0
+            )
+            arm_input.velocities[self.all_joint_names.index("axis_3_joint")] = (
+                float(-1 * copysign(1, right_stick_y)) if abs(right_stick_y) >= ARM_THRESHOLD else 0.0
+            )
+
+            # Left stick: axis 1 and 2
+            arm_input.velocities[self.all_joint_names.index("axis_1_joint")] = (
+                float(copysign(1, left_stick_x)) if abs(left_stick_x) >= ARM_THRESHOLD else 0.0
+            )
+            arm_input.velocities[self.all_joint_names.index("axis_2_joint")] = (
+                float(-1 * copysign(1, left_stick_y)) if abs(left_stick_y) >= ARM_THRESHOLD else 0.0
+            )
+
+            # D-pad: axis 0 and _
+            arm_input.velocities[self.all_joint_names.index("axis_0_joint")] = (
+                float(copysign(1, dpad_input[0])) if dpad_input[0] != 0 else 0.0
+            )
+
+            # Triggers: EF Grippers
+            if left_trigger > 0 and right_trigger > 0:
+                arm_input.velocities[self.all_joint_names.index("ef_gripper_left_joint")] = 0.0
+            elif left_trigger > 0:
+                arm_input.velocities[self.all_joint_names.index("ef_gripper_left_joint")] = -1.0
+            elif right_trigger > 0:
+                arm_input.velocities[self.all_joint_names.index("ef_gripper_left_joint")] = 1.0
+
+            # Bumpers: EF roll
+            arm_input.velocities[self.all_joint_names.index("wrist_roll_joint")] = right_bumper - left_bumper
+
+            # A: brake
+            # TODO: Brake mode
+
+            # Y: linear actuator
+            # TODO: linear actuator
+
+            self.arm_manual_pub_.publish(arm_input)
+
+        # IK
+        elif self.arm_mode == "ik":
             arm_twist = TwistStamped()
             arm_twist.header.frame_id = "base_link"
             arm_twist.header.stamp = self.get_clock().now().to_msg()
@@ -432,21 +541,6 @@ class Headless(Node):
             arm_jointjog.header.frame_id = "base_link"
             arm_jointjog.header.stamp = self.get_clock().now().to_msg()
 
-            # 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))
-            button_a = self.gamepad.get_button(0)
-            button_b = self.gamepad.get_button(1)
-            button_x = self.gamepad.get_button(2)
-            button_y = self.gamepad.get_button(3)
-            left_bumper = self.gamepad.get_button(4)
-            right_bumper = self.gamepad.get_button(5)
-            dpad_input = self.gamepad.get_hat(0)
-
             # Right stick: linear y and linear x
             # Left stick: angular z and linear z
             # D-pad: angular y and _
@@ -473,9 +567,7 @@ class Headless(Node):
 
             # Triggers: EF Grippers
             if left_trigger > 0 or right_trigger > 0:
-                arm_jointjog.joint_names.append(
+                arm_jointjog.joint_names.append("ef_gripper_left_joint")
-                    "ef_gripper_left_joint"
-                )
                 arm_jointjog.velocities.append(float(right_trigger - left_trigger))
 
             # Bumpers: angular x
@@ -489,6 +581,36 @@ class Headless(Node):
             self.arm_ik_twist_publisher.publish(arm_twist)
             # self.arm_ik_jointjog_publisher.publish(arm_jointjog)  # TODO: Figure this shit out
 
+    def send_bio(self):
+        # 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))
+        button_a = self.gamepad.get_button(0)
+        button_b = self.gamepad.get_button(1)
+        button_x = self.gamepad.get_button(2)
+        button_y = self.gamepad.get_button(3)
+        left_bumper = self.gamepad.get_button(4)
+        right_bumper = self.gamepad.get_button(5)
+        dpad_input = self.gamepad.get_hat(0)
+
+        if self.use_old_topics:
+            bio_input = BioControl(
+                bio_arm=int(left_stick_y * -100),
+                drill_arm=int(round(right_stick_y) * -100),
+            )
+
+            # Drill motor (FAERIE)
+            if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
+                bio_input.drill = int(
+                    30 * (right_trigger - left_trigger)
+                )  # Max duty cycle 30%
+
+            self.bio_publisher.publish(bio_input)
+
 
 def deadzone(value: float, threshold=STICK_DEADZONE) -> float:
     """Apply a deadzone to a joystick input so the motors don't sound angry"""