added docker compose

README.md

@@ -16,9 +16,6 @@ You will use these packages to launch all rover-side ROS2 nodes.
   - [Connecting the GuliKit Controller](#connecting-the-gulikit-controller)
 - [Common Problems/Toubleshooting](#common-problemstroubleshooting)
 - [Packages](#packages)
-- [Graphs](#graphs)
-  - [Full System](#full-system)
-  - [Individual Nodes](#individual-nodes)
 - [Maintainers](#maintainers)
 
 ## Software Prerequisites
@@ -143,40 +140,6 @@ A: To find a microcontroller to talk to, Anchor sends a ping to every Serial por
 - [ros2\_interfaces\_pkg](./src/ros2_interfaces_pkg) - Contains custom message types for communication between basestation and the rover over ROS2. (being renamed to `astra_msgs`).
 - [servo\_arm\_twist\_pkg](./src/servo_arm_twist_pkg) - A temporary node to translate controller state from `ros2_joy` to `Twist` messages to control the Arm via IK.
 
-## Graphs
-
-### Full System
-
-> **Anchor stand-alone** (`ros2 launch anchor_pkg rover.launch.py`)
->
-> ![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
-
-> **Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)**
->
-> ![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
-
-> **Anchor with Headless** (`ros2 run headless_pkg headless_full`)
->
-> ![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
-
-### Individual Nodes
-
-> **Anchor** (`ros2 run anchor_pkg anchor`)
->
-> ![rqt_graph of Anchor node running by itself](./docs-resources/graph-anchor-anchor-standalone.png)
-
-> **Core** (`ros2 run core_pkg core --ros-args -p launch_mode:=anchor`)
->
-> ![rqt_graph of Core node running by itself](./docs-resources/graph-anchor-core-standalone.png)
-
-> **Arm** (`ros2 run arm_pkg arm --ros-args -p launch_mode:=anchor`)
->
-> ![rqt_graph of Arm node running by itself](./docs-resources/graph-anchor-arm-standalone.png)
-
-> **Bio** (`ros2 run bio_pkg bio --ros-args -p launch_mode:=anchor`)
->
-> ![rqt_graph of Bio node running by itself](./docs-resources/graph-anchor-bio-standalone.png)
-
 ## Maintainers
 
 | Name | Email | Discord |

auto_start/auto_start_anchor.sh

@@ -15,11 +15,7 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-if command -v nixos-rebuild; then
+source /opt/ros/humble/setup.bash
-    echo "[INFO] running on NixOS"
-else
-    source /opt/ros/humble/setup.bash
-fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/auto_start_headless_full.sh

@@ -15,11 +15,7 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-if command -v nixos-rebuild; then
+source /opt/ros/humble/setup.bash
-    echo "[INFO] running on NixOS"
-else
-    source /opt/ros/humble/setup.bash
-fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/start_rosbag.sh

@@ -17,11 +17,7 @@ done
 echo "[INFO] Network interface is up!"
 
 
-if command -v nixos-rebuild; then
+source /opt/ros/humble/setup.bash
-    echo "[INFO] running on NixOS"
-else
-    source /opt/ros/humble/setup.bash
-fi
 source $ANCHOR_WS/install/setup.bash
 [[ -f $AUTONOMY_WS/install/setup.bash ]] && source $AUTONOMY_WS/install/setup.bash
 

docker-compose.yml

@@ -0,0 +1,18 @@
+
+services:
+  ros2:
+    image: osrf/ros:jazzy-desktop-full
+    container_name: ros2_jazzy_gui
+    network_mode: host
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - XAUTHORITY=/tmp/.docker.xauth
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./ros_ws:/ros_ws
+    stdin_open: true
+    tty: true
+    privileged: true

flake.lock

@@ -24,27 +24,27 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1770108954,
+        "lastModified": 1761810010,
-        "narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=",
+        "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "3d05d46451b376e128a1553e78b8870c75d7753a",
+        "rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab",
         "type": "github"
       },
       "original": {
         "owner": "lopsided98",
-        "ref": "develop",
+        "ref": "master",
         "repo": "nix-ros-overlay",
         "type": "github"
       }
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1759381078,
+        "lastModified": 1744849697,
-        "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=",
+        "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
-        "owner": "NixOS",
+        "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee",
+        "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4",
         "type": "github"
       },
       "original": {

flake.nix

@@ -2,7 +2,7 @@
   description = "Development environment for ASTRA Anchor";
 
   inputs = {
-    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
   };
 
@@ -25,7 +25,7 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python313.withPackages (
+            (python312.withPackages (
               p: with p; [
                 pyserial
                 pygame
@@ -56,12 +56,10 @@
                   control-msgs
                   control-toolbox
                   moveit-core
-                  moveit-planners
                   moveit-common
                   moveit-msgs
                   moveit-ros-planning
                   moveit-ros-planning-interface
-		  moveit-ros-visualization
                   moveit-configs-utils
                   moveit-ros-move-group
                   moveit-servo
@@ -70,9 +68,9 @@
                   pilz-industrial-motion-planner
                   pick-ik
                   ompl
-                  joy
-                  ros2-controllers
                   chomp-motion-planner
+                  joy
+                  # ros2-controllers nixpkg does not build :(
                 ];
               }
             )

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,6 +1,5 @@
 import rclpy
 from rclpy.node import Node
-from rclpy.executors import ExternalShutdownException
 from std_srvs.srv import Empty
 
 import signal
@@ -8,7 +7,6 @@ import time
 import atexit
 
 import serial
-import serial.tools.list_ports
 import os
 import sys
 import threading
@@ -17,17 +15,12 @@ import glob
 from std_msgs.msg import String, Header
 from astra_msgs.msg import VicCAN
 
-KNOWN_USBS = [
+serial_pub = None
-    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
+thread = None
-    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
-    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
-    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
-]
 
 
-class Anchor(Node):
+"""
-    """
+Publishers:
-    Publishers:
   * /anchor/from_vic/debug
     - Every string received from the MCU is published here for debugging
   * /anchor/from_vic/core
@@ -37,71 +30,28 @@ class Anchor(Node):
   * /anchor/from_vic/bio
     - VicCAN messages for Bio node
 
-    Subscribers:
+Subscribers:
   * /anchor/from_vic/mock_mcu
     - For testing without an actual MCU, publish strings here as if they came from an MCU
   * /anchor/to_vic/relay
     - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
   * /anchor/to_vic/relay_string
     - Publish raw strings to this topic to send directly to the MCU for debugging
-    """
+"""
 
+
+class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
         super().__init__("anchor_node")  # previously 'serial_publisher'
 
-        self.serial_port: str | None = None  # e.g., "/dev/ttyUSB0"
-
-        # Serial port override
-        if port_override := os.getenv("PORT_OVERRIDE"):
-            self.serial_port = port_override
-
-        ##################################################
-        # Serial MCU Discovery
-
-        # If there was not a port override, look for a MCU over USB for Serial.
-        if self.serial_port is None:
-            comports = serial.tools.list_ports.comports()
-            real_ports = list(
-                filter(
-                    lambda p: p.vid is not None
-                    and p.pid is not None
-                    and p.device is not None,
-                    comports,
-                )
-            )
-            recog_ports = list(filter(lambda p: (p.vid, p.pid) in KNOWN_USBS, comports))
-
-            if len(recog_ports) == 1:  # Found singular recognized MCU
-                found_port = recog_ports[0]
-                self.get_logger().info(
-                    f"Selecting MCU '{found_port.description}' at {found_port.device}."
-                )
-                self.serial_port = found_port.device  # String, location of device file; e.g., '/dev/ttyACM0'
-            elif len(recog_ports) > 1:  # Found multiple recognized MCUs
-                # Kinda jank log message
-                self.get_logger().error(
-                    f"Found multiple recognized MCUs: {[p.device for p in recog_ports].__str__()}"
-                )
-                # Don't set self.serial_port; later if-statement will exit()
-            elif (
-                len(recog_ports) == 0 and len(real_ports) > 0
-            ):  # Found real ports but none recognized; i.e. maybe found an IMU or camera but not a MCU
-                self.get_logger().error(
-                    f"No recognized MCUs found; instead found {[p.device for p in real_ports].__str__()}."
-                )
-                # Don't set self.serial_port; later if-statement will exit()
-            else:  # Found jack shit
-                self.get_logger().error("No valid Serial ports specified or found.")
-                # Don't set self.serial_port; later if-statement will exit()
-
-        # We still don't have a serial port; fall back to legacy discovery (Areeb's code)
         # Loop through all serial devices on the computer to check for the MCU
-        if self.serial_port is None:
+        self.port = None
-            self.get_logger().warning("Falling back to legacy MCU discovery...")
+        if port_override := os.getenv("PORT_OVERRIDE"):
-            ports = Anchor.list_serial_ports()
+            self.port = port_override
-            for _ in range(4):
+        ports = SerialRelay.list_serial_ports()
-                if self.serial_port is not None:
+        for i in range(4):
+            if self.port is not None:
                 break
             for port in ports:
                 try:
@@ -113,60 +63,22 @@ class Anchor(Node):
 
                     # if pong is in response, then we are talking with the MCU
                     if b"pong" in response:
-                            self.serial_port = port
+                        self.port = port
-                            self.get_logger().info(f"Found MCU at {self.serial_port}!")
+                        self.get_logger().info(f"Found MCU at {self.port}!")
                         break
                 except:
                     pass
 
-        # If port is still None then we ain't finding no mcu
+        if self.port is None:
-        if self.serial_port is None:
+            self.get_logger().info("Unable to find MCU...")
-            self.get_logger().error("Unable to find MCU. Exiting...")
-            time.sleep(1)
-            sys.exit(1)
-        # Found a Serial port, try to open it; above code has not officially opened a Serial port
-        else:
-            self.get_logger().debug(
-                f"Attempting to open Serial port '{self.serial_port}'..."
-            )
-            try:
-                self.serial_interface = serial.Serial(
-                    self.serial_port, 115200, timeout=1
-                )
-
-                # Attempt to get name of connected MCU
-                self.serial_interface.write(
-                    b"can_relay_mode,on\n"
-                )  # can_relay_ready,[mcu]
-                mcu_name: str = ""
-                for _ in range(4):
-                    response = self.serial_interface.read_until(bytes("\n", "utf8"))
-                    try:
-                        if b"can_relay_ready" in response:
-                            args: list[str] = response.decode("utf8").strip().split(",")
-                            if len(args) == 2:
-                                mcu_name = args[1]
-                            break
-                    except UnicodeDecodeError:
-                        pass  # ignore malformed responses
-                self.get_logger().info(
-                    f"MCU '{mcu_name}' is ready at '{self.serial_port}'."
-                )
-
-            except serial.SerialException as e:
-                self.get_logger().error(
-                    f"Could not open Serial port '{self.serial_port}' for reason:"
-                )
-                self.get_logger().error(e.strerror)
             time.sleep(1)
             sys.exit(1)
 
-        # Close serial port on exit
+        self.ser = serial.Serial(self.port, 115200)
+        self.get_logger().info(f"Enabling Relay Mode")
+        self.ser.write(b"can_relay_mode,on\n")
         atexit.register(self.cleanup)
 
-        ##################################################
-        # ROS2 Topic Setup
-
         # New pub/sub with VicCAN
         self.fromvic_debug_pub_ = self.create_publisher(
             String, "/anchor/from_vic/debug", 20
@@ -203,10 +115,22 @@ class Anchor(Node):
             String, "/anchor/relay", self.on_relay_tovic_string, 10
         )
 
+    def run(self):
+        # This thread makes all the update processes run in the background
+        global thread
+        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+        thread.start()
+
+        try:
+            while rclpy.ok():
+                self.read_MCU()  # Check the MCU for updates
+        except KeyboardInterrupt:
+            sys.exit(0)
+
     def read_MCU(self):
         """Check the USB serial port for new data from the MCU, and publish string to appropriate topics"""
         try:
-            output = str(self.serial_interface.readline(), "utf8")
+            output = str(self.ser.readline(), "utf8")
 
             if output:
                 self.relay_fromvic(output)
@@ -232,20 +156,14 @@ class Anchor(Node):
         except serial.SerialException as e:
             print(f"SerialException: {e}")
             print("Closing serial port.")
-            try:
+            if self.ser.is_open:
-                if self.serial_interface.is_open:
+                self.ser.close()
-                    self.serial_interface.close()
-            except:
-                pass
             exit(1)
         except TypeError as e:
             print(f"TypeError: {e}")
             print("Closing serial port.")
-            try:
+            if self.ser.is_open:
-                if self.serial_interface.is_open:
+                self.ser.close()
-                    self.serial_interface.close()
-            except:
-                pass
             exit(1)
         except Exception as e:
             print(f"Exception: {e}")
@@ -266,7 +184,7 @@ class Anchor(Node):
             output += f",{round(num, 7)}"  # limit to 7 decimal places
         output += "\n"
         # self.get_logger().info(f"VicCAN relay to MCU: {output}")
-        self.serial_interface.write(bytes(output, "utf8"))
+        self.ser.write(bytes(output, "utf8"))
 
     def relay_fromvic(self, msg: str):
         """Relay a string message from the MCU to the appropriate VicCAN topic"""
@@ -328,7 +246,7 @@ class Anchor(Node):
         """Relay a raw string message to the MCU for debugging"""
         message = msg.data
         # self.get_logger().info(f"Sending command to MCU: {msg}")
-        self.serial_interface.write(bytes(message, "utf8"))
+        self.ser.write(bytes(message, "utf8"))
 
     @staticmethod
     def list_serial_ports():
@@ -336,29 +254,28 @@ class Anchor(Node):
 
     def cleanup(self):
         print("Cleaning up before terminating...")
-        if self.serial_interface.is_open:
+        if self.ser.is_open:
-            self.serial_interface.close()
+            self.ser.close()
+
+
+def myexcepthook(type, value, tb):
+    print("Uncaught exception:", type, value)
+    if serial_pub:
+        serial_pub.cleanup()
 
 
 def main(args=None):
-    try:
     rclpy.init(args=args)
-        anchor_node = Anchor()
+    sys.excepthook = myexcepthook
 
-        thread = threading.Thread(target=rclpy.spin, args=(anchor_node,), daemon=True)
+    global serial_pub
-        thread.start()
 
-        rate = anchor_node.create_rate(100)  # 100 Hz -- arbitrary rate
+    serial_pub = SerialRelay()
-        while rclpy.ok():
+    serial_pub.run()
-            anchor_node.read_MCU()  # Check the MCU for updates
-            rate.sleep()
-    except (KeyboardInterrupt, ExternalShutdownException):
-        print("Caught shutdown signal, shutting down...")
-    finally:
-        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
+    # signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(
         signal.SIGTERM, lambda signum, frame: sys.exit(0)
     )  # Catch termination signals and exit cleanly

src/anchor_pkg/launch/rover.launch.py

@@ -8,7 +8,6 @@ from launch.substitutions import (
     PathJoinSubstitution,
 )
 from launch_ros.actions import Node
-from launch.conditions import IfCondition
 
 
 # Prevent making __pycache__ directories
@@ -51,7 +50,6 @@ def launch_setup(context, *args, **kwargs):
                 executable="ptz",  # change as needed
                 name="ptz",
                 output="both",
-                condition=IfCondition(LaunchConfiguration("use_ptz", default="true")),
                 # Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
                 # on_exit=Shutdown()  # Uncomment if you want to shutdown on PTZ failure
             )

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,92 +1,50 @@
-import sys
-import threading
-import signal
-import math
-
 import rclpy
 from rclpy.node import Node
-from rclpy.executors import ExternalShutdownException
+import serial
-from rclpy import qos
+import sys
-
+import threading
-from std_msgs.msg import String, Header
+import glob
+import time
+import atexit
+import signal
+from std_msgs.msg import String
+from astra_msgs.msg import ArmManual
+from astra_msgs.msg import SocketFeedback
+from astra_msgs.msg import DigitFeedback
 from sensor_msgs.msg import JointState
-from control_msgs.msg import JointJog
+import math
-from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
-from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
 
-control_qos = qos.QoSProfile(
+# control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+#     history=qos.QoSHistoryPolicy.KEEP_LAST,
-    depth=2,
+#     depth=1,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
+#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
+#     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    # deadline=Duration(seconds=1),
+#     deadline=1000,
-    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+#     lifespan=500,
-    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    # liveliness_lease_duration=Duration(seconds=5),
+#     liveliness_lease_duration=5000
-)
+# )
 
+serial_pub = None
 thread = None
 
 
-class ArmNode(Node):
+class SerialRelay(Node):
-    """Relay between Anchor and Basestation/Headless/Moveit2 for Arm related topics."""
-
-    # 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",
-    ]
-
-    # 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):
+        # Initialize node
         super().__init__("arm_node")
 
-        self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
+        # Get launch mode parameter
-
+        self.declare_parameter("launch_mode", "arm")
-        ##################################################
+        self.launch_mode = self.get_parameter("launch_mode").value
-        # Parameters
+        self.get_logger().info(f"arm launch_mode is: {self.launch_mode}")
-
-        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.debug_pub = self.create_publisher(String, "/arm/feedback/debug", 10)
         self.socket_pub = self.create_publisher(
             SocketFeedback, "/arm/feedback/socket", 10
         )
-            self.arm_feedback = SocketFeedback()
         self.digit_pub = self.create_publisher(DigitFeedback, "/arm/feedback/digit", 10)
-            self.digit_feedback = DigitFeedback()
         self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
 
         # Create subscribers
@@ -94,132 +52,131 @@ class ArmNode(Node):
             ArmManual, "/arm/control/manual", self.send_manual, 10
         )
 
-        ###################################################
+        # New messages
-        # New topics
+        self.joint_state_pub = self.create_publisher(JointState, "joint_states", 10)
-
+        self.joint_state = JointState()
-        # Anchor topics
+        self.joint_state.name = [
-
+            "Axis_0_Joint",
-        # from_vic
+            "Axis_1_Joint",
-        self.anchor_fromvic_sub_ = self.create_subscription(
+            "Axis_2_Joint",
-            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
+            "Axis_3_Joint",
-        )
+            "Wrist_Differential_Joint",
-        # to_vic
+            "Wrist-EF_Roll_Joint",
-        self.anchor_tovic_pub_ = self.create_publisher(
+            "Gripper_Slider_Left",
-            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
+        self.joint_state.position = [0.0] * len(
-        velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities]
+            self.joint_state.name
-        # ROS2's rad/s to VicCAN's deg/s*10; don't convert gripper's m/s
+        )  # Initialize with zeros
-        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.joint_command_sub = self.create_subscription(
-        self.anchor_tovic_pub_.publish(
+            JointState, "/joint_commands", self.joint_command_callback, 10
-            VicCAN(
-                mcu_name="arm", command_id=43, data=velocities[0:3], header=msg.header
         )
+
+        # Topics used in anchor mode
+        if self.launch_mode == "anchor":
+            self.anchor_sub = self.create_subscription(
+                String, "/anchor/arm/feedback", self.anchor_feedback, 10
             )
-        # Send Wrist yaw and roll
+            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
-        # TODO: Verify embedded
+
-        self.anchor_tovic_pub_.publish(
+        self.arm_feedback = SocketFeedback()
-            VicCAN(
+        self.digit_feedback = DigitFeedback()
-                mcu_name="digit", command_id=43, data=velocities[4:5], header=msg.header
+
+        # Search for ports IF in 'arm' (standalone) and not 'anchor' mode
+        if self.launch_mode == "arm":
+            # Loop through all serial devices on the computer to check for the MCU
+            self.port = None
+            ports = SerialRelay.list_serial_ports()
+            for _ in range(4):
+                for port in ports:
+                    try:
+                        # connect and send a ping command
+                        ser = serial.Serial(port, 115200, timeout=1)
+                        # print(f"Checking port {port}...")
+                        ser.write(b"ping\n")
+                        response = ser.read_until("\n")  # type: ignore
+
+                        # if pong is in response, then we are talking with the MCU
+                        if b"pong" in response:
+                            self.port = port
+                            self.get_logger().info(f"Found MCU at {self.port}!")
+                            break
+                    except:
+                        pass
+                if self.port is not None:
+                    break
+
+            if self.port is None:
+                self.get_logger().info(
+                    "Unable to find MCU... please make sure it is connected."
                 )
-        )
+                time.sleep(1)
-        # Send End Effector Gripper
+                sys.exit(1)
-        # TODO: Verify m/s received correctly by embedded
+
-        self.anchor_tovic_pub_.publish(
+            self.ser = serial.Serial(self.port, 115200)
-            VicCAN(
+            atexit.register(self.cleanup)
-                mcu_name="digit", command_id=26, data=[velocities[6]], header=msg.header
+
-            )
+    def run(self):
-        )
+        global thread
-        # TODO: use msg.duration
+        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
+        thread.start()
+
+        # if in arm mode, will need to read from the MCU
+
+        try:
+            while rclpy.ok():
+                if self.launch_mode == "arm":
+                    if self.ser.in_waiting:
+                        self.read_mcu()
+                    else:
+                        time.sleep(0.1)
+        except KeyboardInterrupt:
+            pass
+        finally:
+            self.cleanup()
+
+    # Currently will just spit out all values over the /arm/feedback/debug topic as strings
+    def read_mcu(self):
+        try:
+            output = str(self.ser.readline(), "utf8")
+            if output:
+                # self.get_logger().info(f"[MCU] {output}")
+                msg = String()
+                msg.data = output
+                self.debug_pub.publish(msg)
+        except serial.SerialException:
+            self.get_logger().info("SerialException caught... closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
+        except TypeError as e:
+            self.get_logger().info(f"TypeError: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
+        except Exception as e:
+            print(f"Exception: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
 
     def joint_command_callback(self, msg: JointState):
-        if len(msg.position) < 7 and len(msg.velocity) < 7:
-            return  # command needs either position or velocity for all 7 joints
-
-        # Assumed order: Axis0, Axis1, Axis2, Axis3, Wrist_Yaw, Wrist_Roll, Gripper
-        # TODO: refactor to depend on joint names
         # Embedded takes deg*10, ROS2 uses Radians
-        velocities = [
+        positions = [math.degrees(pos) * 10 for pos in msg.position]
-            math.degrees(vel) * 10 if abs(vel) > 0.05 else 0.0 for vel in msg.velocity
-        ]
         # Axis 2 & 3 URDF direction is inverted
-        velocities[2] = -velocities[2]
+        positions[2] = -positions[2]
-        velocities[3] = -velocities[3]
+        positions[3] = -positions[3]
 
-        # Axis 0-3
+        # Set target angles for each arm axis for embedded IK PID to handle
-        arm_cmd = VicCAN(mcu_name="arm", command_id=43, data=velocities[0:3])
+        command = f"can_relay_tovic,arm,32,{positions[0]},{positions[1]},{positions[2]},{positions[3]}\n"
-        arm_cmd.header = Header(stamp=self.get_clock().now().to_msg())
+        # Wrist yaw and roll
-        # Wrist yaw and roll, gripper included for future use when have adequate hardware
+        command += f"can_relay_tovic,digit,32,{positions[4]},{positions[5]}\n"
-        digit_cmd = VicCAN(mcu_name="digit", command_id=43, data=velocities[4:6])
+        # Gripper IK does not have adequate hardware yet
-        digit_cmd.header = Header(stamp=self.get_clock().now().to_msg())
+        self.send_cmd(command)
-
-        self.anchor_tovic_pub_.publish(arm_cmd)
-        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
@@ -233,7 +190,7 @@ 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"
 
@@ -244,16 +201,23 @@ class ArmNode(Node):
         return
 
     def send_cmd(self, msg: str):
-        """TODO: Old"""
+        if (
-        output = String(data=msg)
+            self.launch_mode == "anchor"
+        ):  # if in anchor mode, send to anchor node to relay
+            output = String()
+            output.data = msg
             self.anchor_pub.publish(output)
+        elif self.launch_mode == "arm":  # if in standalone mode, send to MCU directly
+            self.get_logger().info(f"[Arm to MCU] {msg}")
+            self.ser.write(bytes(msg, "utf8"))
 
     def anchor_feedback(self, msg: String):
-        """TODO: Old"""
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
+            # pass
             self.updateAngleFeedback(output)
         elif output.startswith("can_relay_fromvic,arm,54"):
+            # pass
             self.updateBusVoltage(output)
         elif output.startswith("can_relay_fromvic,arm,53"):
             self.updateMotorFeedback(output)
@@ -271,140 +235,20 @@ class ArmNode(Node):
             if len(parts) >= 4:
                 self.digit_feedback.wrist_angle = float(parts[3])
                 # self.digit_feedback.wrist_roll = float(parts[4])
+                self.joint_state.position[4] = math.radians(
+                    float(parts[4])
+                )  # Wrist roll
+                self.joint_state.position[5] = math.radians(
+                    float(parts[3])
+                )  # Wrist yaw
         else:
             return
 
-    def relay_fromvic(self, msg: VicCAN):
-        # Code for socket and digit are broken out for cleaner code
-        if msg.mcu_name == "arm":
-            self.process_fromvic_arm(msg)
-        elif msg.mcu_name == "digit":
-            self.process_fromvic_digit(msg)
-
-    def process_fromvic_arm(self, msg: VicCAN):
-        if msg.mcu_name != "arm":
-            return
-
-        # Check message len to prevent crashing on bad data
-        if msg.command_id in self.viccan_socket_msg_len_dict:
-            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)})"
-                )
-                return
-
-        match msg.command_id:
-            case 53:  # REV SPARK MAX feedback
-                motorId = round(msg.data[0])
-                motor: RevMotorState | None = None
-                match motorId:
-                    case 1:
-                        motor = self.arm_feedback_new.axis1_motor
-                    case 2:
-                        motor = self.arm_feedback_new.axis2_motor
-                    case 3:
-                        motor = self.arm_feedback_new.axis3_motor
-                    case 4:
-                        motor = self.arm_feedback_new.axis0_motor
-
-                if motor:
-                    motor.temperature = float(msg.data[1]) / 10.0
-                    motor.voltage = float(msg.data[2]) / 10.0
-                    motor.current = float(msg.data[3]) / 10.0
-                    motor.header.stamp = msg.header.stamp
-
-                self.arm_feedback_pub_.publish(self.arm_feedback_new)
-            case 54:  # Board voltages
-                self.arm_feedback_new.socket_voltage.vbatt = float(msg.data[0]) / 100.0
-                self.arm_feedback_new.socket_voltage.v12 = float(msg.data[1]) / 100.0
-                self.arm_feedback_new.socket_voltage.v5 = float(msg.data[2]) / 100.0
-                self.arm_feedback_new.socket_voltage.v3 = float(msg.data[3]) / 100.0
-                self.arm_feedback_new.socket_voltage.header.stamp = msg.header.stamp
-            case 55:  # Arm joint positions
-                angles = [angle / 10.0 for angle in msg.data]  # VicCAN sends deg*10
-                # Joint state publisher for URDF visualization
-                self.saved_joint_state.position[0] = math.radians(angles[0])  # Axis 0
-                self.saved_joint_state.position[1] = math.radians(angles[1])  # Axis 1
-                self.saved_joint_state.position[2] = math.radians(
-                    -angles[2]
-                )  # Axis 2 (inverted)
-                self.saved_joint_state.position[3] = math.radians(
-                    -angles[3]
-                )  # Axis 3 (inverted)
-                # Wrist is handled by digit feedback
-                self.saved_joint_state.header.stamp = msg.header.stamp
-                self.joint_state_pub_.publish(self.saved_joint_state)
-            case 58:  # REV SPARK MAX position and velocity feedback
-                motorId = round(msg.data[0])
-                motor: RevMotorState | None = None
-                match motorId:
-                    case 1:
-                        motor = self.arm_feedback_new.axis1_motor
-                    case 2:
-                        motor = self.arm_feedback_new.axis2_motor
-                    case 3:
-                        motor = self.arm_feedback_new.axis3_motor
-                    case 4:
-                        motor = self.arm_feedback_new.axis0_motor
-
-                if motor:
-                    motor.position = float(msg.data[1])
-                    motor.velocity = float(msg.data[2])
-                    motor.header.stamp = msg.header.stamp
-
-                self.arm_feedback_pub_.publish(self.arm_feedback_new)
-            case 59:  # Arm joint velocities
-                velocities = [vel / 100.0 for vel in msg.data]  # VicCAN sends deg/s*100
-                self.saved_joint_state.velocity[0] = math.radians(
-                    velocities[0]
-                )  # Axis 0
-                self.saved_joint_state.velocity[1] = math.radians(
-                    velocities[1]
-                )  # Axis 1
-                self.saved_joint_state.velocity[2] = math.radians(
-                    -velocities[2]
-                )  # Axis 2 (-)
-                self.saved_joint_state.velocity[3] = math.radians(
-                    -velocities[3]
-                )  # Axis 3 (-)
-                # Wrist is handled by digit feedback
-                self.saved_joint_state.header.stamp = msg.header.stamp
-                self.joint_state_pub_.publish(self.saved_joint_state)
-
-    def process_fromvic_digit(self, msg: VicCAN):
-        if msg.mcu_name != "digit":
-            return
-
-        # Check message len to prevent crashing on bad data
-        if msg.command_id in self.viccan_digit_msg_len_dict:
-            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)})"
-                )
-                return
-
-        match msg.command_id:
-            case 54:  # Board voltages
-                self.arm_feedback_new.digit_voltage.vbatt = float(msg.data[0]) / 100.0
-                self.arm_feedback_new.digit_voltage.v12 = float(msg.data[1]) / 100.0
-                self.arm_feedback_new.digit_voltage.v5 = float(msg.data[2]) / 100.0
-            case 55:  # Arm joint positions
-                self.saved_joint_state.position[4] = math.radians(
-                    msg.data[0]
-                )  # Wrist roll
-                self.saved_joint_state.position[5] = math.radians(
-                    msg.data[1]
-                )  # 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(",")
@@ -419,11 +263,20 @@ class ArmNode(Node):
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
             self.arm_feedback.axis3_angle = angles[3]
+
+            # Joint state publisher for URDF visualization
+            self.joint_state.position[0] = math.radians(angles[0])  # Axis 0
+            self.joint_state.position[1] = math.radians(angles[1])  # Axis 1
+            self.joint_state.position[2] = math.radians(-angles[2])  # Axis 2 (inverted)
+            self.joint_state.position[3] = math.radians(-angles[3])  # Axis 3 (inverted)
+            # Wrist is handled by digit feedback
+            self.joint_state.header.stamp = self.get_clock().now().to_msg()
+            self.joint_state_pub.publish(self.joint_state)
+
         else:
             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:
@@ -438,7 +291,6 @@ 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
@@ -461,20 +313,33 @@ class ArmNode(Node):
             self.arm_feedback.axis0_voltage = voltage
             self.arm_feedback.axis0_current = current
 
+    @staticmethod
+    def list_serial_ports():
+        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
+        # return glob.glob("/dev/tty[A-Za-z]*")
+
+    def cleanup(self):
+        print("Cleaning up...")
+        try:
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
+
+
+def myexcepthook(type, value, tb):
+    print("Uncaught exception:", type, value)
+    if serial_pub:
+        serial_pub.cleanup()
+
 
 def main(args=None):
     rclpy.init(args=args)
+    sys.excepthook = myexcepthook
 
-    arm_node = ArmNode()
+    global serial_pub
-    thread = threading.Thread(target=rclpy.spin, args=(arm_node,), daemon=True)
+    serial_pub = SerialRelay()
-    thread.start()
+    serial_pub.run()
-
-    try:
-        thread.join()
-    except (KeyboardInterrupt, ExternalShutdownException):
-        pass
-    finally:
-        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":

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,  # Best Effort subscribers are still compatible with Reliable publishers
+    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),
 )
 
 # Used to verify the length of an incoming VicCAN feedback message

src/headless_pkg/src/headless_node.py

@@ -1,6 +1,5 @@
 import rclpy
 from rclpy.node import Node
-from rclpy.executors import ExternalShutdownException
 from rclpy import qos
 from rclpy.duration import Duration
 
@@ -12,14 +11,10 @@ import os
 import sys
 import threading
 import glob
-import pwd
-import grp
 from math import copysign
 
-from std_srvs.srv import Trigger
 from std_msgs.msg import String
-from geometry_msgs.msg import Twist, TwistStamped
+from geometry_msgs.msg import Twist
-from control_msgs.msg import JointJog
 from astra_msgs.msg import CoreControl, ArmManual, BioControl
 from astra_msgs.msg import CoreCtrlState
 
@@ -41,38 +36,22 @@ 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),
 )
 
-
+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:
@@ -92,82 +71,16 @@ class Headless(Node):
             print("No gamepad found. Waiting...")
 
         # Initialize the gamepad
-        id = 0
+        self.gamepad = pygame.joystick.Joystick(0)
-        while True:
-            self.num_gamepads = pygame.joystick.get_count()
-            if id >= self.num_gamepads:
-                self.get_logger().fatal("Ran out of controllers to try")
-                sys.exit(1)
-
-            try:
-                self.gamepad = pygame.joystick.Joystick(id)
         self.gamepad.init()
-            except Exception as e:
-                self.get_logger().error("Error when initializing gamepad")
-                self.get_logger().error(e)
-                id += 1
-                continue
         print(f"Gamepad Found: {self.gamepad.get_name()}")
 
-            if self.gamepad.get_numhats() == 0 or self.gamepad.get_numaxes() < 5:
+        self.create_timer(0.15, self.send_controls)
-                self.get_logger().error("Controller not correctly initialized.")
-                if not is_user_in_group("input"):
-                    self.get_logger().warning(
-                        "If using NixOS, you may need to add yourself to the 'input' group."
-                    )
-                if is_user_in_group("plugdev"):
-                    self.get_logger().warning(
-                        "If using NixOS, you may need to remove yourself from the 'plugdev' group."
-                    )
-            else:
-                break
-            id += 1
 
-        ##################################################
-        # Parameters
-
-        self.declare_parameter("use_old_topics", True)
-        self.use_old_topics = (
-            self.get_parameter("use_old_topics").get_parameter_value().bool_value
-        )
-
-        self.declare_parameter("arm_mode", "manual")
-        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").get_parameter_value().string_value
-        )
-
-        # Check parameter validity
-        if self.arm_mode not in ["manual", "ik"]:
-            self.get_logger().warn(
-                f"Invalid value '{self.arm_mode}' for arm_mode parameter. Defaulting to 'manual' (per-axis control)."
-            )
-        if self.arm_manual_scheme not in ["old", "new"]:
-            self.get_logger().warn(
-                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(
+        self.arm_publisher = self.create_publisher(ArmManual, "/arm/control/manual", 2)
-                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
         )
@@ -175,54 +88,24 @@ class Headless(Node):
             CoreCtrlState, "/core/control/state", qos_profile=control_qos
         )
 
-        self.arm_manual_pub_ = self.create_publisher(
+        self.ctrl_mode = "core"  # Start in core mode
-            JointJog, "/arm/manual_new", qos_profile=control_qos
+        self.core_brake_mode = False
-        )
+        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
-
-        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":
-            self.get_logger().info("Starting servo node for IK control...")
-            self.servo_start_client = self.create_client(
-                Trigger, "/servo_node/start_servo"
-            )
-            timeout_counter = 0
-            while not self.servo_start_client.wait_for_service(timeout_sec=1.0):
-                self.get_logger().info("Waiting for servo_node/start_servo service...")
-                timeout_counter += 1
-                if timeout_counter >= 10:
-                    self.get_logger().error(
-                        "Servo's start service not available. IK control will not work."
-                    )
-                    break
-            if self.servo_start_client.service_is_ready():
-                self.servo_start_client.call_async(Trigger.Request())
 
         # Rumble when node is ready (returns False if rumble not supported)
         self.gamepad.rumble(0.7, 0.8, 150)
 
-    def stop_all(self):
+    def run(self):
-        if self.use_old_topics:
+        # This thread makes all the update processes run in the background
-            self.core_publisher.publish(CORE_STOP_MSG)
+        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-            self.arm_publisher.publish(ARM_STOP_MSG)
+        thread.start()
-            self.bio_publisher.publish(BIO_STOP_MSG)
+
-        else:
+        try:
-            self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
+            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):
         """Read the gamepad state and publish control messages"""
@@ -232,10 +115,12 @@ class Headless(Node):
                 sys.exit(0)
 
         # Check if controller is still connected
-        if pygame.joystick.get_count() != self.num_gamepads:
+        if pygame.joystick.get_count() == 0:
             print("Gamepad disconnected. Exiting...")
-            # Stop the rover if controller disconnected
+            # Send one last zero control message
-            self.stop_all()
+            self.core_publisher.publish(CORE_STOP_MSG)
+            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()
@@ -251,42 +136,20 @@ class Headless(Node):
             new_ctrl_mode = "core"
 
         if new_ctrl_mode != self.ctrl_mode:
-            self.stop_all()
             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")
 
-        # Actually send the controls
+        # CORE
-        if self.ctrl_mode == "core":
+        if self.ctrl_mode == "core" and CORE_MODE == "duty":
-            self.send_core()
-            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
 
+            # 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))
 
@@ -301,10 +164,19 @@ class Headless(Node):
             self.get_logger().info(f"[Ctrl] {output}")
 
             self.core_publisher.publish(input)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            # self.bio_publisher.publish(BIO_STOP_MSG)
 
-        else:  # New topics
+        elif self.ctrl_mode == "core" and CORE_MODE == "twist":
             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(
@@ -313,6 +185,8 @@ class Headless(Node):
 
             # Publish
             self.core_twist_pub_.publish(input)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            # self.bio_publisher.publish(BIO_STOP_MSG)
             self.get_logger().info(
                 f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}"
             )
@@ -337,13 +211,15 @@ 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}"
                 )
 
-    def send_arm(self):
+        # ARM and BIO
+        if self.ctrl_mode == "arm":
+            arm_input = ArmManual()
+
             # Collect controller state
             left_stick_x = deadzone(self.gamepad.get_axis(0))
             left_stick_y = deadzone(self.gamepad.get_axis(1))
@@ -351,20 +227,9 @@ class Headless(Node):
             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)
 
-        # 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:
                 arm_input.gripper = 0
@@ -407,197 +272,7 @@ class Headless(Node):
                 if abs(right_stick_y) > 0.15:
                     arm_input.axis3 = -1 * round(right_stick_y)
 
-            # NEW ARM CONTROL SCHEME
+            # BIO
-            if self.arm_manual_scheme == "new":
-                # 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.effector_yaw = (
-                    0 if abs(right_stick_x) < ARM_THRESHOLD else int(copysign(1, right_stick_x))
-                )
-                arm_input.axis3 = (
-                    0 if abs(right_stick_y) < ARM_THRESHOLD else int(-1 * copysign(1, right_stick_y))
-                )
-
-                # Left stick: axis 1 and 2
-                arm_input.axis1 = (
-                    0 if abs(left_stick_x) < ARM_THRESHOLD else int(copysign(1, left_stick_x))
-                )
-                arm_input.axis2 = (
-                    0 if abs(left_stick_y) < ARM_THRESHOLD else int(-1 * copysign(1, left_stick_y))
-                )
-
-                # D-pad: axis 0 and _
-                arm_input.axis0 = (
-                    0 if dpad_input[0] == 0 else int(copysign(1, dpad_input[0]))
-                )
-
-                # Triggers: EF Grippers
-                if left_trigger > 0 and right_trigger > 0:
-                    arm_input.gripper = 0
-                elif left_trigger > 0:
-                    arm_input.gripper = -1
-                elif right_trigger > 0:
-                    arm_input.gripper = 1
-
-                # Bumpers: EF roll
-                if left_bumper > 0 and right_bumper > 0:
-                    arm_input.effector_roll = 0
-                elif left_bumper > 0:
-                    arm_input.effector_roll = -1
-                elif right_bumper > 0:
-                    arm_input.effector_roll = 1
-
-                # A: brake
-                if button_a:
-                    arm_input.brake = True
-
-                # Y: linear actuator
-                if button_y and not button_b:
-                    arm_input.linear_actuator = 1
-                elif button_b and not button_y:
-                    arm_input.linear_actuator = -1
-                else:
-                    arm_input.linear_actuator = 0
-
-            self.arm_publisher.publish(arm_input)
-
-        # 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()
-            arm_jointjog = JointJog()
-            arm_jointjog.header.frame_id = "base_link"
-            arm_jointjog.header.stamp = self.get_clock().now().to_msg()
-
-            # Right stick: linear y and linear x
-            # Left stick: angular z and linear z
-            # D-pad: angular y and _
-            # Triggers: EF grippers
-            # Bumpers: angular x
-            # A: brake
-            # B: IK mode
-            # X: manual mode
-            # Y: linear actuator
-
-            # Right stick: linear y and linear x
-            arm_twist.twist.linear.y = float(right_stick_x)
-            arm_twist.twist.linear.x = float(right_stick_y)
-
-            # Left stick: angular z and linear z
-            arm_twist.twist.angular.z = float(-1 * left_stick_x)
-            arm_twist.twist.linear.z = float(-1 * left_stick_y)
-            # D-pad: angular y and _
-            arm_twist.twist.angular.y = (
-                float(0)
-                if dpad_input[0] == 0
-                else float(-1 * copysign(0.75, dpad_input[0]))
-            )
-
-            # Triggers: EF Grippers
-            if left_trigger > 0 or right_trigger > 0:
-                arm_jointjog.joint_names.append("ef_gripper_left_joint")
-                arm_jointjog.velocities.append(float(right_trigger - left_trigger))
-
-            # Bumpers: angular x
-            if left_bumper > 0 and right_bumper > 0:
-                arm_twist.twist.angular.x = float(0)
-            elif left_bumper > 0:
-                arm_twist.twist.angular.x = float(1)
-            elif right_bumper > 0:
-                arm_twist.twist.angular.x = float(-1)
-
-            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),
@@ -609,44 +284,23 @@ class Headless(Node):
                     30 * (right_trigger - left_trigger)
                 )  # Max duty cycle 30%
 
-            self.bio_publisher.publish(bio_input)
+            self.core_publisher.publish(CORE_STOP_MSG)
+            self.arm_publisher.publish(arm_input)
+            # self.bio_publisher.publish(bio_input)
 
 
-def deadzone(value: float, threshold=STICK_DEADZONE) -> float:
+def deadzone(value: float, threshold=0.05) -> float:
     """Apply a deadzone to a joystick input so the motors don't sound angry"""
     if abs(value) < threshold:
         return 0
     return value
 
 
-def is_user_in_group(group_name: str) -> bool:
-    # Copied from https://zetcode.com/python/os-getgrouplist/
-    try:
-        username = os.getlogin()
-
-        # Get group ID from name
-        group_info = grp.getgrnam(group_name)
-        target_gid = group_info.gr_gid
-
-        # Get user's groups
-        user_info = pwd.getpwnam(username)
-        user_groups = os.getgrouplist(username, user_info.pw_gid)
-
-        return target_gid in user_groups
-    except KeyError:
-        return False
-
-
 def main(args=None):
-    try:
     rclpy.init(args=args)
-
     node = Headless()
     rclpy.spin(node)
-    except (KeyboardInterrupt, ExternalShutdownException):
+    rclpy.shutdown()
-        print("Caught shutdown signal. Exiting...")
-    finally:
-        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":

src/latency_tester/src/embedded_ping.cpp

@@ -26,7 +26,7 @@ class LatencyTester : public rclcpp::Node
 {
 public:
     LatencyTester()
-    : Node("latency_tester"), count_(0)
+    : Node("latency_tester"), count_(0), target_mcu_("core")
     {
         publisher_ = this->create_publisher<std_msgs::msg::String>("/anchor/relay", 10);
         timer_ = this->create_wall_timer(
@@ -35,8 +35,6 @@ public:
             "/anchor/debug",
             10,
             std::bind(&LatencyTester::response_callback, this, std::placeholders::_1));
-
-        target_mcu_ = this->declare_parameter<std::string>("target_mcu", "core");
     }
 
 private:

src/servo_arm_twist_pkg/CMakeLists.txt

@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.22)
+project(servo_arm_twist_pkg)
+
+# C++ Libraries #################################################
+
+# Core C++ library for calculations and collision checking.
+# Provides interface used by the component node.
+set(SERVO_LIB_NAME servo_arm_twist_lib)
+
+# Pose Tracking
+set(POSE_TRACKING pose_tracking)
+
+# Component Nodes (Shared libraries) ############################
+set(SERVO_COMPONENT_NODE servo_node)
+set(SERVO_CONTROLLER_INPUT servo_controller_input)
+
+# Executable Nodes ##############################################
+set(SERVO_NODE_MAIN_NAME servo_node_main)
+set(POSE_TRACKING_DEMO_NAME servo_pose_tracking_demo)
+set(FAKE_SERVO_CMDS_NAME fake_command_publisher)
+
+#################################################################
+
+# Common cmake code applied to all moveit packages
+find_package(moveit_common REQUIRED)
+moveit_package()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  control_toolbox
+  geometry_msgs
+  moveit_core
+  moveit_msgs
+  moveit_ros_planning
+  pluginlib
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2_eigen
+  trajectory_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+#####################
+## Component Nodes ##
+#####################
+
+# Add executable for using a controller
+add_library(${SERVO_CONTROLLER_INPUT} SHARED src/joystick_twist.cpp)
+ament_target_dependencies(${SERVO_CONTROLLER_INPUT} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+rclcpp_components_register_nodes(${SERVO_CONTROLLER_INPUT} "servo_arm_twist_pkg::JoyToServoPub")
+
+#############
+## Install ##
+#############
+
+# Install Libraries
+install(
+  TARGETS
+    ${SERVO_CONTROLLER_INPUT}
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+# Install Binaries
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+ament_package()

src/servo_arm_twist_pkg/README.md

@@ -0,0 +1,3 @@
+# Moveit Servo
+
+See the [Realtime Arm Servoing Tutorial](https://moveit.picknik.ai/main/doc/realtime_servo/realtime_servo_tutorial.html) for installation instructions, quick-start guide, an overview about `moveit_servo`, and to learn how to set it up on your robot.

src/servo_arm_twist_pkg/package.xml

@@ -0,0 +1,58 @@
+<?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>servo_arm_twist_pkg</name>
+  <version>2.5.9</version>
+  <description>Provides real-time manipulator Cartesian and joint servoing.</description>
+  <maintainer email="blakeanderson@utexas.edu">Blake Anderson</maintainer>
+  <maintainer email="andyz@utexas.edu">Andy Zelenak</maintainer>
+  <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>
+  <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
+
+  <license>BSD 3-Clause</license>
+
+  <url type="website">https://ros-planning.github.io/moveit_tutorials</url>
+
+  <author>Brian O'Neil</author>
+  <author email="andyz@utexas.edu">Andy Zelenak</author>
+  <author>Blake Anderson</author>
+  <author email="alex@machinekoder.com">Alexander Rössler</author>
+  <author email="tyler@picknik.ai">Tyler Weaver</author>
+  <author email="adam.pettinger@utexas.edu">Adam Pettinger</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>moveit_common</depend>
+
+  <depend>control_msgs</depend>
+  <depend>control_toolbox</depend>
+  <depend>geometry_msgs</depend>
+  <depend>moveit_msgs</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>pluginlib</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>tf2_eigen</depend>
+  <depend>trajectory_msgs</depend>
+
+  <exec_depend>gripper_controllers</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>launch_param_builder</exec_depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>controller_manager</test_depend>
+  <test_depend>ros_testing</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>

src/servo_arm_twist_pkg/src/joystick_twist.cpp

@@ -0,0 +1,271 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/*      Title     : joystick_servo_example.cpp
+ *      Project   : servo_arm_twist_pkg
+ *      Created   : 08/07/2020
+ *      Author    : Adam Pettinger
+ */
+
+#include <sensor_msgs/msg/joy.hpp>
+#include <geometry_msgs/msg/twist_stamped.hpp>
+#include <control_msgs/msg/joint_jog.hpp>
+#include <std_srvs/srv/trigger.hpp>
+#include <moveit_msgs/msg/planning_scene.hpp>
+#include <rclcpp/client.hpp>
+#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/publisher.hpp>
+#include <rclcpp/qos.hpp>
+#include <rclcpp/qos_event.hpp>
+#include <rclcpp/subscription.hpp>
+#include <rclcpp/time.hpp>
+#include <rclcpp/utilities.hpp>
+#include <thread>
+
+// We'll just set up parameters here
+const std::string JOY_TOPIC = "/joy";
+const std::string TWIST_TOPIC = "/servo_node/delta_twist_cmds";
+const std::string JOINT_TOPIC = "/servo_node/delta_joint_cmds";
+const std::string EEF_FRAME_ID = "End_Effector";
+const std::string BASE_FRAME_ID = "base_link";
+
+// Enums for button names -> axis/button array index
+// For XBOX 1 controller
+enum Axis
+{
+    LEFT_STICK_X = 0,
+    LEFT_STICK_Y = 1,
+    LEFT_TRIGGER = 2,
+    RIGHT_STICK_X = 3,
+    RIGHT_STICK_Y = 4,
+    RIGHT_TRIGGER = 5,
+    D_PAD_X = 6,
+    D_PAD_Y = 7
+};
+enum Button
+{
+    A = 0,
+    B = 1,
+    X = 2,
+    Y = 3,
+    LEFT_BUMPER = 4,
+    RIGHT_BUMPER = 5,
+    CHANGE_VIEW = 6,
+    MENU = 7,
+    HOME = 8,
+    LEFT_STICK_CLICK = 9,
+    RIGHT_STICK_CLICK = 10
+};
+
+// Some axes have offsets (e.g. the default trigger position is 1.0 not 0)
+// This will map the default values for the axes
+std::map<Axis, double> AXIS_DEFAULTS = { { LEFT_TRIGGER, 1.0 }, { RIGHT_TRIGGER, 1.0 } };
+std::map<Button, double> BUTTON_DEFAULTS;
+
+// To change controls or setup a new controller, all you should to do is change the above enums and the follow 2
+// functions
+/** \brief // This converts a joystick axes and buttons array to a TwistStamped or JointJog message
+ * @param axes The vector of continuous controller joystick axes
+ * @param buttons The vector of discrete controller button values
+ * @param twist A TwistStamped message to update in prep for publishing
+ * @param joint A JointJog message to update in prep for publishing
+ * @return return true if you want to publish a Twist, false if you want to publish a JointJog
+ */
+bool convertJoyToCmd(const std::vector<float>& axes, const std::vector<int>& buttons,
+                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist,
+                     std::unique_ptr<control_msgs::msg::JointJog>& joint)
+{
+    // // Give joint jogging priority because it is only buttons
+    // // If any joint jog command is requested, we are only publishing joint commands
+    // if (buttons[A] || buttons[B] || buttons[X] || buttons[Y] || axes[D_PAD_X] || axes[D_PAD_Y])
+    // {
+    //   // Map the D_PAD to the proximal joints
+    //   joint->joint_names.push_back("panda_joint1");
+    //   joint->velocities.push_back(axes[D_PAD_X]);
+    //   joint->joint_names.push_back("panda_joint2");
+    //   joint->velocities.push_back(axes[D_PAD_Y]);
+
+    //   // Map the diamond to the distal joints
+    //   joint->joint_names.push_back("panda_joint7");
+    //   joint->velocities.push_back(buttons[B] - buttons[X]);
+    //   joint->joint_names.push_back("panda_joint6");
+    //   joint->velocities.push_back(buttons[Y] - buttons[A]);
+    //   return false;
+    // }
+
+    // The bread and butter: map buttons to twist commands
+    twist->twist.linear.z = axes[RIGHT_STICK_Y];
+    twist->twist.linear.y = axes[RIGHT_STICK_X];
+
+    double lin_x_right = -0.5 * (axes[RIGHT_TRIGGER] - AXIS_DEFAULTS.at(RIGHT_TRIGGER));
+    double lin_x_left = 0.5 * (axes[LEFT_TRIGGER] - AXIS_DEFAULTS.at(LEFT_TRIGGER));
+    twist->twist.linear.x = lin_x_right + lin_x_left;
+
+    twist->twist.angular.y = axes[LEFT_STICK_Y];
+    twist->twist.angular.x = axes[LEFT_STICK_X];
+
+    double roll_positive = buttons[RIGHT_BUMPER];
+    double roll_negative = -1 * (buttons[LEFT_BUMPER]);
+    twist->twist.angular.z = roll_positive + roll_negative;
+
+    return true;
+}
+
+/** \brief // This should update the frame_to_publish_ as needed for changing command frame via controller
+ * @param frame_name Set the command frame to this
+ * @param buttons The vector of discrete controller button values
+ */
+void updateCmdFrame(std::string& frame_name, const std::vector<int>& buttons)
+{
+    if (buttons[CHANGE_VIEW] && frame_name == EEF_FRAME_ID)
+        frame_name = BASE_FRAME_ID;
+    else if (buttons[MENU] && frame_name == BASE_FRAME_ID)
+        frame_name = EEF_FRAME_ID;
+}
+
+namespace servo_arm_twist_pkg
+{
+class JoyToServoPub : public rclcpp::Node
+{
+public:
+    JoyToServoPub(const rclcpp::NodeOptions& options)
+        : Node("joy_to_twist_publisher", options), frame_to_publish_(BASE_FRAME_ID)
+    {
+        // Setup pub/sub
+        joy_sub_ = this->create_subscription<sensor_msgs::msg::Joy>(
+            JOY_TOPIC, rclcpp::SystemDefaultsQoS(),
+            [this](const sensor_msgs::msg::Joy::ConstSharedPtr& msg) { return joyCB(msg); });
+
+        twist_pub_ = this->create_publisher<geometry_msgs::msg::TwistStamped>(TWIST_TOPIC, rclcpp::SystemDefaultsQoS());
+        joint_pub_ = this->create_publisher<control_msgs::msg::JointJog>(JOINT_TOPIC, rclcpp::SystemDefaultsQoS());
+        // collision_pub_ =
+        //     this->create_publisher<moveit_msgs::msg::PlanningScene>("/planning_scene", rclcpp::SystemDefaultsQoS());
+
+        // Create a service client to start the ServoNode
+        servo_start_client_ = this->create_client<std_srvs::srv::Trigger>("/servo_node/start_servo");
+        servo_start_client_->wait_for_service(std::chrono::seconds(1));
+        servo_start_client_->async_send_request(std::make_shared<std_srvs::srv::Trigger::Request>());
+
+        // // Load the collision scene asynchronously
+        // collision_pub_thread_ = std::thread([this]() {
+        //   rclcpp::sleep_for(std::chrono::seconds(3));
+        //   // Create collision object, in the way of servoing
+        //   moveit_msgs::msg::CollisionObject collision_object;
+        //   collision_object.header.frame_id = "panda_link0";
+        //   collision_object.id = "box";
+
+        //   shape_msgs::msg::SolidPrimitive table_1;
+        //   table_1.type = table_1.BOX;
+        //   table_1.dimensions = { 0.4, 0.6, 0.03 };
+
+        //   geometry_msgs::msg::Pose table_1_pose;
+        //   table_1_pose.position.x = 0.6;
+        //   table_1_pose.position.y = 0.0;
+        //   table_1_pose.position.z = 0.4;
+
+        //   shape_msgs::msg::SolidPrimitive table_2;
+        //   table_2.type = table_2.BOX;
+        //   table_2.dimensions = { 0.6, 0.4, 0.03 };
+
+        //   geometry_msgs::msg::Pose table_2_pose;
+        //   table_2_pose.position.x = 0.0;
+        //   table_2_pose.position.y = 0.5;
+        //   table_2_pose.position.z = 0.25;
+
+        //   collision_object.primitives.push_back(table_1);
+        //   collision_object.primitive_poses.push_back(table_1_pose);
+        //   collision_object.primitives.push_back(table_2);
+        //   collision_object.primitive_poses.push_back(table_2_pose);
+        //   collision_object.operation = collision_object.ADD;
+
+        //   moveit_msgs::msg::PlanningSceneWorld psw;
+        //   psw.collision_objects.push_back(collision_object);
+
+        //   auto ps = std::make_unique<moveit_msgs::msg::PlanningScene>();
+        //   ps->world = psw;
+        //   ps->is_diff = true;
+        //   collision_pub_->publish(std::move(ps));
+        // });
+    }
+
+    // ~JoyToServoPub() override
+    // {
+    //     if (collision_pub_thread_.joinable())
+    //         collision_pub_thread_.join();
+    // }
+
+    void joyCB(const sensor_msgs::msg::Joy::ConstSharedPtr& msg)
+    {
+        // Create the messages we might publish
+        auto twist_msg = std::make_unique<geometry_msgs::msg::TwistStamped>();
+        auto joint_msg = std::make_unique<control_msgs::msg::JointJog>();
+
+        // This call updates the frame for twist commands
+        updateCmdFrame(frame_to_publish_, msg->buttons);
+
+        // Convert the joystick message to Twist or JointJog and publish
+        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg, joint_msg))
+        {
+            // publish the TwistStamped
+            twist_msg->header.frame_id = frame_to_publish_;
+            twist_msg->header.stamp = this->now();
+            twist_pub_->publish(std::move(twist_msg));
+        }
+        // else
+        // {
+        //     // publish the JointJog
+        //     joint_msg->header.stamp = this->now();
+        //     joint_msg->header.frame_id = "panda_link3";
+        //     joint_pub_->publish(std::move(joint_msg));
+        // }
+    }
+
+private:
+    rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
+    rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_pub_;
+    rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr joint_pub_;
+    rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr collision_pub_;
+    rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr servo_start_client_;
+
+    std::string frame_to_publish_;
+
+    // std::thread collision_pub_thread_;
+};  // class JoyToServoPub
+
+}  // namespace servo_arm_twist_pkg
+
+// Register the component with class_loader
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(servo_arm_twist_pkg::JoyToServoPub)