refactor: (arm) consolidate velocity control VicCAN into single function

- Add @warnings.deprecated decorators to callbacks that use old topics
- Rename "*new*" topics
- Print debug on malformed message receival
- Un-invert Axes 2 & 3 in the URDF
- Don't silently check mcu_name twice
- Remove threading.Thread (not one of Riley's comments)
- Add a real signal handler (ditto)
- Move stamped stop messages to helper functions

src/arm_pkg/arm_pkg/arm_headless.py

@@ -1,279 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-import pygame
-
-import time
-
-import serial
-import sys
-import threading
-import glob
-import os
-
-from std_msgs.msg import String
-from astra_msgs.msg import ControllerState
-from astra_msgs.msg import ArmManual
-from astra_msgs.msg import ArmIK
-
-
-os.environ["SDL_AUDIODRIVER"] = (
-    "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
-)
-os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
-
-
-class Headless(Node):
-    def __init__(self):
-        # Initalize node with name
-        super().__init__("arm_headless")
-
-        # Depricated, kept temporarily for reference
-        # self.create_timer(0.20, self.send_controls)#read and send controls
-
-        self.create_timer(0.1, self.send_manual)
-
-        # Create a publisher to publish any output the pico sends
-
-        # Depricated, kept temporarily for reference
-        # self.publisher = self.create_publisher(ControllerState, '/astra/arm/control', 10)
-        self.manual_pub = self.create_publisher(ArmManual, "/arm/control/manual", 10)
-
-        # Create a subscriber to listen to any commands sent for the pico
-
-        # Depricated, kept temporarily for reference
-        # self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10)
-
-        # self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
-
-        self.laser_status = 0
-
-        # Initialize pygame
-        pygame.init()
-
-        # Initialize the gamepad module
-        pygame.joystick.init()
-
-        # Check if any gamepad is connected
-        if pygame.joystick.get_count() == 0:
-            print("No gamepad found.")
-            pygame.quit()
-            exit()
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-
-        # Initialize the first gamepad, print name to terminal
-        self.gamepad = pygame.joystick.Joystick(0)
-        self.gamepad.init()
-        print(f"Gamepad Found: {self.gamepad.get_name()}")
-        #
-        #
-
-    def run(self):
-        # This thread makes all the update processes run in the background
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-        thread.start()
-
-        try:
-            while rclpy.ok():
-                # Check the pico for updates
-
-                # self.read_feedback()
-                if (
-                    pygame.joystick.get_count() == 0
-                ):  # if controller disconnected, wait for it to be reconnected
-                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
-
-                    while pygame.joystick.get_count() == 0:
-                        # self.send_controls() #depricated, kept for reference temporarily
-                        self.send_manual()
-                        # self.read_feedback()
-                    self.gamepad = pygame.joystick.Joystick(0)
-                    self.gamepad.init()  # re-initialized gamepad
-                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
-
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def send_manual(self):
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-        input = ArmManual()
-
-        # Triggers for gripper control
-        if self.gamepad.get_axis(2) > 0:  # left trigger
-            input.gripper = -1
-        elif self.gamepad.get_axis(5) > 0:  # right trigger
-            input.gripper = 1
-
-        # Toggle Laser
-        if self.gamepad.get_button(7):  # Start
-            self.laser_status = 1
-        elif self.gamepad.get_button(6):  # Back
-            self.laser_status = 0
-        input.laser = self.laser_status
-
-        if self.gamepad.get_button(5):  # right bumper, control effector
-
-            # Left stick X-axis for effector yaw
-            if self.gamepad.get_axis(0) > 0:
-                input.effector_yaw = 1
-            elif self.gamepad.get_axis(0) < 0:
-                input.effector_yaw = -1
-
-            # Right stick X-axis for effector roll
-            if self.gamepad.get_axis(3) > 0:
-                input.effector_roll = 1
-            elif self.gamepad.get_axis(3) < 0:
-                input.effector_roll = -1
-
-        else:  # Control arm axis
-            dpad_input = self.gamepad.get_hat(0)
-            input.axis0 = 0
-            if dpad_input[0] == 1:
-                input.axis0 = 1
-            elif dpad_input[0] == -1:
-                input.axis0 = -1
-
-            if self.gamepad.get_axis(0) > 0.15 or self.gamepad.get_axis(0) < -0.15:
-                input.axis1 = round(self.gamepad.get_axis(0))
-
-            if self.gamepad.get_axis(1) > 0.15 or self.gamepad.get_axis(1) < -0.15:
-                input.axis2 = -1 * round(self.gamepad.get_axis(1))
-
-            if self.gamepad.get_axis(4) > 0.15 or self.gamepad.get_axis(4) < -0.15:
-                input.axis3 = -1 * round(self.gamepad.get_axis(4))
-
-            # input.axis1 = -1 * round(self.gamepad.get_axis(0))#left x-axis
-            # input.axis2 = -1 * round(self.gamepad.get_axis(1))#left y-axis
-            # input.axis3 = -1 * round(self.gamepad.get_axis(4))#right y-axis
-
-        # Button Mappings
-        # axis2 -> LT
-        # axis5 -> RT
-        # Buttons0 -> A
-        # Buttons1 -> B
-        # Buttons2 -> X
-        # Buttons3 -> Y
-        # Buttons4 -> LB
-        # Buttons5 -> RB
-        # Buttons6 -> Back
-        # Buttons7 -> Start
-
-        input.linear_actuator = 0
-
-        if pygame.joystick.get_count() != 0:
-
-            self.get_logger().info(
-                f"[Ctrl] {input.axis0}, {input.axis1}, {input.axis2}, {input.axis3}\n"
-            )
-            self.manual_pub.publish(input)
-        else:
-            pass
-
-        pass
-
-    # Depricated, kept temporarily for reference
-    # def send_controls(self):
-
-    #     for event in pygame.event.get():
-    #         if event.type == pygame.QUIT:
-    #             pygame.quit()
-    #             exit()
-    #     input = ControllerState()
-
-    #     input.lt = self.gamepad.get_axis(2)#left trigger
-    #     input.rt = self.gamepad.get_axis(5)#right trigger
-
-    #     #input.lb = self.gamepad.get_button(9)#Value must be converted to bool
-    #     if(self.gamepad.get_button(4)):#left bumper
-    #         input.lb = True
-    #     else:
-    #         input.lb = False
-
-    #     #input.rb = self.gamepad.get_button(10)#Value must be converted to bool
-    #     if(self.gamepad.get_button(5)):#right bumper
-    #         input.rb = True
-    #     else:
-    #         input.rb = False
-
-    #     #input.plus = self.gamepad.get_button(6)#plus button
-    #     if(self.gamepad.get_button(7)):#plus button
-    #         input.plus = True
-    #     else:
-    #         input.plus = False
-
-    #     #input.minus = self.gamepad.get_button(4)#minus button
-    #     if(self.gamepad.get_button(6)):#minus button
-    #         input.minus = True
-    #     else:
-    #         input.minus = False
-
-    #     input.ls_x = round(self.gamepad.get_axis(0),2)#left x-axis
-    #     input.ls_y = round(self.gamepad.get_axis(1),2)#left y-axis
-    #     input.rs_x = round(self.gamepad.get_axis(3),2)#right x-axis
-    #     input.rs_y = round(self.gamepad.get_axis(4),2)#right y-axis
-
-    #     #input.a = self.gamepad.get_button(1)#A button
-    #     if(self.gamepad.get_button(0)):#A button
-    #         input.a = True
-    #     else:
-    #         input.a = False
-    #     #input.b = self.gamepad.get_button(0)#B button
-    #     if(self.gamepad.get_button(1)):#B button
-    #         input.b = True
-    #     else:
-    #         input.b = False
-    #     #input.x = self.gamepad.get_button(3)#X button
-    #     if(self.gamepad.get_button(2)):#X button
-    #         input.x = True
-    #     else:
-    #         input.x = False
-    #     #input.y = self.gamepad.get_button(2)#Y button
-    #     if(self.gamepad.get_button(3)):#Y button
-    #         input.y = True
-    #     else:
-    #         input.y = False
-
-    #     dpad_input = self.gamepad.get_hat(0)#D-pad input
-
-    #     #not using up/down on DPad
-    #     input.d_up = False
-    #     input.d_down = False
-
-    #     if(dpad_input[0] == 1):#D-pad right
-    #         input.d_right = True
-    #     else:
-    #         input.d_right = False
-    #     if(dpad_input[0] == -1):#D-pad left
-    #         input.d_left = True
-    #     else:
-    #         input.d_left = False
-
-    #     if pygame.joystick.get_count() != 0:
-
-    #         self.get_logger().info(f"[Ctrl] Updated Controller State\n")
-
-    #         self.publisher.publish(input)
-    #     else:
-    #         pass
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = Headless()
-
-    rclpy.spin(node)
-    rclpy.shutdown()
-
-    # tb_bs = BaseStation()
-    # node.run()
-
-
-if __name__ == "__main__":
-    main()

src/arm_pkg/arm_pkg/arm_node.py

@@ -2,6 +2,7 @@ import sys
 import threading
 import signal
 import math
+from warnings import deprecated
 
 import rclpy
 from rclpy.node import Node
@@ -11,7 +12,7 @@ from rclpy import qos
 from std_msgs.msg import String, Header
 from sensor_msgs.msg import JointState
 from control_msgs.msg import JointJog
-from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
+from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual  # TODO: Old topics
 from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
 
 control_qos = qos.QoSProfile(
@@ -68,7 +69,9 @@ class ArmNode(Node):
         # Parameters
 
         self.declare_parameter("use_old_topics", True)
-        self.use_old_topics = self.get_parameter("use_old_topics").get_parameter_value().bool_value
+        self.use_old_topics = (
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
+        )
 
         ##################################################
         # Old topics
@@ -85,7 +88,9 @@ class ArmNode(Node):
                 SocketFeedback, "/arm/feedback/socket", 10
             )
             self.arm_feedback = SocketFeedback()
-            self.digit_pub = self.create_publisher(DigitFeedback, "/arm/feedback/digit", 10)
+            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)
 
@@ -111,12 +116,18 @@ class ArmNode(Node):
         # Control
 
         # Manual: /arm/manual_new is published by Servo or Basestation
-        self.jointjog_pub_ = self.create_subscription(
+        self.man_jointjog_pub_ = self.create_subscription(
-            JointJog, "/arm/manual_new", self.jointjog_callback, qos_profile=control_qos
+            JointJog,
+            "/arm/manual/joint_jog",
+            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
+            JointState,
+            "/joint_commands",
+            self.joint_command_callback,
+            qos_profile=control_qos,
         )
 
         # Feedback
@@ -124,12 +135,12 @@ class ArmNode(Node):
         # Combined Socket and Digit feedback
         self.arm_feedback_pub_ = self.create_publisher(
             ArmFeedback,
-            "/arm/feedback/new_feedback",
+            "/arm/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
+            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
         )
 
         ###################################################
@@ -146,12 +157,9 @@ class ArmNode(Node):
         self.saved_joint_state.velocity = [0.0] * len(self.saved_joint_state.name)
 
     def jointjog_callback(self, msg: JointJog):
-        if (
+        if len(msg.joint_names) != len(msg.velocities):
-            len(msg.joint_names) == 0
+            self.get_logger().debug("Ignoring malformed /arm/manual/joint_jog message.")
-            or len(msg.velocities) == 0
+            return
-            or len(msg.joint_names) != len(msg.velocities)
-        ):
-            return  # Malformed message
 
         # Grab velocities from message
         velocities = [
@@ -164,62 +172,51 @@ class ArmNode(Node):
         ]
         # 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.send_velocities(velocities, msg.header)
-        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:
+            self.get_logger().debug("Ignoring malformed /joint_command message.")
             return  # command needs either position or velocity for all 7 joints
 
-        # Assumed order: Axis0, Axis1, Axis2, Axis3, Wrist_Yaw, Wrist_Roll, Gripper
+        # Grab velocities from message
-        # TODO: refactor to depend on joint names
-        # Embedded takes deg*10, ROS2 uses Radians
         velocities = [
-            math.degrees(vel) * 10 if abs(vel) > 0.05 else 0.0 for vel in msg.velocity
+            (
+                msg.velocity[msg.name.index(joint_name)]  # type: ignore
+                if joint_name in msg.name
+                else 0.0
+            )
+            for joint_name in self.all_joint_names
         ]
-        # Axis 2 & 3 URDF direction is inverted
-        velocities[2] = -velocities[2]
-        velocities[3] = -velocities[3]
 
-        # Axis 0-3
+        self.send_velocities(velocities, msg.header)
-        arm_cmd = VicCAN(mcu_name="arm", command_id=43, data=velocities[0:3])
-        arm_cmd.header = Header(stamp=self.get_clock().now().to_msg())
-        # Wrist yaw and roll, gripper included for future use when have adequate hardware
-        digit_cmd = VicCAN(mcu_name="digit", command_id=43, data=velocities[4:6])
-        digit_cmd.header = Header(stamp=self.get_clock().now().to_msg())
 
-        self.anchor_tovic_pub_.publish(arm_cmd)
+    def send_velocities(self, velocities: list[float], header: Header):
-        self.anchor_tovic_pub_.publish(digit_cmd)
+        # 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)
+        ]
 
+        # Send Axis 0-3
+        self.anchor_tovic_pub_.publish(
+            VicCAN(mcu_name="arm", command_id=43, data=velocities[0:3], header=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=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=header)
+        )
+
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_manual(self, msg: ArmManual):
-        """TODO: Old"""
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
         axis2 = msg.axis2
@@ -243,13 +240,13 @@ class ArmNode(Node):
 
         return
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_cmd(self, msg: str):
-        """TODO: Old"""
         output = String(data=msg)
         self.anchor_pub.publish(output)
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def anchor_feedback(self, msg: String):
-        """TODO: Old"""
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
             self.updateAngleFeedback(output)
@@ -282,8 +279,7 @@ class ArmNode(Node):
             self.process_fromvic_digit(msg)
 
     def process_fromvic_arm(self, msg: VicCAN):
-        if msg.mcu_name != "arm":
+        assert 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:
@@ -326,12 +322,8 @@ class ArmNode(Node):
                 # 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(
+                self.saved_joint_state.position[2] = math.radians(angles[2])  # Axis 2
-                    -angles[2]
+                self.saved_joint_state.position[3] = math.radians(angles[3])  # Axis 3
-                )  # 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)
@@ -363,18 +355,17 @@ class ArmNode(Node):
                     velocities[1]
                 )  # Axis 1
                 self.saved_joint_state.velocity[2] = math.radians(
-                    -velocities[2]
+                    velocities[2]
-                )  # Axis 2 (-)
+                )  # Axis 2
                 self.saved_joint_state.velocity[3] = math.radians(
-                    -velocities[3]
+                    velocities[3]
-                )  # Axis 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":
+        assert 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:
@@ -398,13 +389,13 @@ class ArmNode(Node):
                     msg.data[1]
                 )  # Wrist yaw
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def publish_feedback(self):
-        """TODO: Old"""
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def updateAngleFeedback(self, msg: str):
-        """TODO: Old"""
         # Angle feedbacks,
         # split the msg.data by commas
         parts = msg.split(",")
@@ -422,8 +413,8 @@ class ArmNode(Node):
         else:
             self.get_logger().info("Invalid angle feedback input format")
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def updateBusVoltage(self, msg: str):
-        """TODO: Old"""
         # Bus Voltage feedbacks
         parts = msg.split(",")
         if len(parts) >= 7:
@@ -437,8 +428,8 @@ class ArmNode(Node):
         else:
             self.get_logger().info("Invalid voltage feedback input format")
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def updateMotorFeedback(self, msg: str):
-        """TODO: Old"""
         parts = str(msg.strip()).split(",")
         motorId = round(float(parts[3]))
         temp = float(parts[4]) / 10.0
@@ -462,15 +453,22 @@ class ArmNode(Node):
             self.arm_feedback.axis0_current = current
 
 
+def exit_handler(signum, frame):
+    print("Caught SIGTERM. Exiting...")
+    rclpy.try_shutdown()
+    sys.exit(0)
+
+
 def main(args=None):
     rclpy.init(args=args)
 
+    # Catch termination signals and exit cleanly
+    signal.signal(signal.SIGTERM, exit_handler)
+
     arm_node = ArmNode()
-    thread = threading.Thread(target=rclpy.spin, args=(arm_node,), daemon=True)
-    thread.start()
 
     try:
-        thread.join()
+        rclpy.spin(arm_node)
     except (KeyboardInterrupt, ExternalShutdownException):
         pass
     finally:
@@ -478,8 +476,4 @@ def main(args=None):
 
 
 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
     main()

src/arm_pkg/setup.py

@@ -1,27 +1,22 @@
-from setuptools import find_packages, setup
+from setuptools import setup
-import os
-from glob import glob
 
 package_name = "arm_pkg"
 
 setup(
     name=package_name,
     version="1.0.0",
-    packages=find_packages(exclude=["test"]),
+    packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
     ],
     install_requires=["setuptools"],
     zip_safe=True,
-    maintainer="tristan",
+    maintainer="David",
-    maintainer_email="tristanmcginnis26@gmail.com",
+    maintainer_email="ds0196@uah.edu",
-    description="TODO: Package description",
+    description="Relays topics related to the arm between VicCAN (through Anchor) and basestation.",
-    license="All Rights Reserved",
+    license="AGPL-3.0-only",
     entry_points={
-        "console_scripts": [
+        "console_scripts": ["arm = arm_pkg.arm_node:main"],
-            "arm = arm_pkg.arm_node:main",
-            "headless = arm_pkg.arm_headless:main",
-        ],
     },
 )

src/headless_pkg/src/headless_node.py

@@ -39,9 +39,9 @@ os.environ["SDL_AUDIODRIVER"] = (
 CORE_STOP_MSG = CoreControl()  # All zeros by default
 CORE_STOP_TWIST_MSG = Twist()  # "
 ARM_STOP_MSG = ArmManual()  # "
-ARM_IK_STOP_MSG = TwistStamped()  # "
 BIO_STOP_MSG = BioControl()  # "
 
+
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
@@ -75,15 +75,7 @@ class Headless(Node):
         # Initialize pygame first
         pygame.init()
         pygame.joystick.init()
-        super().__init__("headless")
+        super().__init__("headless_node")
-
-        # TODO: move the STOP_MSGs somewhere better
-        global ARM_STOP_JOG_MSG
-        ARM_STOP_JOG_MSG = JointJog(
-            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg()),
-            joint_names=self.all_joint_names,
-            velocities=[0.0] * len(self.all_joint_names),
-        )
 
         ##################################################
         # Preamble
@@ -247,9 +239,9 @@ class Headless(Node):
         else:
             self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
             if self.use_arm_ik:
-                self.arm_ik_twist_publisher.publish(ARM_IK_STOP_MSG)
+                self.arm_ik_twist_publisher.publish(self.arm_ik_twist_stop_msg())
             else:
-                self.arm_manual_pub_.publish(ARM_STOP_JOG_MSG)
+                self.arm_manual_pub_.publish(self.arm_manual_stop_msg())
             # TODO: add bio here after implementing new topics
 
     def send_controls(self):
@@ -519,14 +511,12 @@ class Headless(Node):
             # 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(
                 stick_to_arm_direction(right_stick_x)
             )
             arm_input.velocities[self.all_joint_names.index("axis_3_joint")] = float(
-                -1 * stick_to_arm_direction(right_stick_y)
+                stick_to_arm_direction(right_stick_y)
             )
 
             # Left stick: axis 1 and 2
@@ -534,7 +524,7 @@ class Headless(Node):
                 stick_to_arm_direction(left_stick_x)
             )
             arm_input.velocities[self.all_joint_names.index("axis_2_joint")] = float(
-                -1 * stick_to_arm_direction(left_stick_y)
+                stick_to_arm_direction(left_stick_y)
             )
 
             # D-pad: axis 0 and _
@@ -653,6 +643,18 @@ class Headless(Node):
         else:
             pass  # TODO: implement new bio control topics
 
+    def arm_manual_stop_msg(self):
+        return JointJog(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg()),
+            joint_names=self.all_joint_names,
+            velocities=[0.0] * len(self.all_joint_names),
+        )
+
+    def arm_ik_twist_stop_msg(self):
+        return TwistStamped(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg())
+        )
+
 
 def stick_deadzone(value: float, threshold=STICK_DEADZONE) -> float:
     """Apply a deadzone to a joystick input so the motors don't sound angry"""