feat(core): change rover_platform parameter to override, default with hostname instead of environment variable

Launch file uses clucky, testbed, auto. Node was using core, testbed, auto. Replaced core with clucky in the node.

README.md

@@ -60,6 +60,33 @@ $ ros2 launch anchor_pkg rover.launch.py  # Must be run on a computer connected
 $ ros2 run headless_pkg headless_full  # Optionally run in a separate shell on the same or different computer.
 ```
 
+### Using the Mock Connector
+
+Anchor provides a mock connector meant for testing and scripting purposes. You can select the mock connector by running anchor with this command:
+
+```bash
+$ ros2 launch anchor_pkg rover.launch.py connector:="mock"
+```
+
+To see all data that would be sent over the CAN network (and thus to the microcontrollers), use this command:
+
+```bash
+$ ros2 topic echo /anchor/to_vic/debug
+```
+
+To send data to the mock connector (as if you were a ROS2 node), use the normal relay topic:
+
+```bash
+$ ros2 topic pub /anchor/to_vic/relay astra_msgs/msg/VicCAN '{mcu_name: "core", command_id: 50, data: [0.0, 2.0, 0.0, 1.0]}'
+
+```
+
+To send data to the mock connector (as if you were a microcontroller), publish to the dedicated topic:
+
+```bash
+$ ros2 topic pub /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN '{mcu_name: "arm", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}'
+```
+
 ### Testing Serial
 
 You can fake the presence of a Serial device (i.e., MCU) by using the following command:
@@ -68,10 +95,31 @@ You can fake the presence of a Serial device (i.e., MCU) by using the following
 $ socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT
 ```
 
-When you go to run anchor, use the `PORT_OVERRIDE` environment variable to point it to the fake serial port, like so:
+When you go to run anchor, use the `serial_override` ROS2 parameter to point it to the fake serial port, like so:
 
 ```bash
-$ PORT_OVERRIDE=/tmp/ttyACM9 ros2 launch anchor_pkg rover.launch.py
+$ ros2 launch anchor_pkg rover.launch.py connector:=serial serial_override:=/tmp/ttyACM9
+```
+
+### Testing CAN
+
+You can create a virtual CAN network by using the following commands to create and then enable it:
+
+```bash
+sudo ip link add dev vcan0 type vcan
+sudo ip link set vcan0 up
+```
+
+When you go to run anchor, use the `can_override` ROS2 parameter to point it to the virtual CAN network, like so:
+
+```bash
+$ ros2 launch anchor_pkg rover.launch.py connector:=can can_override:=vcan0
+```
+
+Once you're done, you should delete the virtual network so that anchor doesn't get confused if you plug in a real CAN adapter:
+
+```bash
+$ sudo ip link delete vcan0
 ```
 
 ### Connecting the GuliKit Controller

flake.lock

@@ -60,7 +60,8 @@
         "nixpkgs": [
           "nix-ros-overlay",
           "nixpkgs"
-        ]
+        ],
+        "treefmt-nix": "treefmt-nix"
       }
     },
     "systems": {
@@ -77,6 +78,26 @@
         "repo": "default",
         "type": "github"
       }
+    },
+    "treefmt-nix": {
+      "inputs": {
+        "nixpkgs": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1773297127,
+        "narHash": "sha256-6E/yhXP7Oy/NbXtf1ktzmU8SdVqJQ09HC/48ebEGBpk=",
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "rev": "71b125cd05fbfd78cab3e070b73544abe24c5016",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "type": "github"
+      }
     }
   },
   "root": "root",

flake.nix

@@ -4,6 +4,11 @@
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
+
+    treefmt-nix = {
+      url = "github:numtide/treefmt-nix";
+      inputs.nixpkgs.follows = "nixpkgs";
+    };
   };
 
   outputs =
@@ -11,7 +16,8 @@
       self,
       nix-ros-overlay,
       nixpkgs,
-    }:
+      ...
+    }@inputs:
     nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
       system:
       let
@@ -25,9 +31,10 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python312.withPackages (
+            (python313.withPackages (
               p: with p; [
                 pyserial
+                python-can
                 pygame
                 scipy
                 crccheck
@@ -83,6 +90,8 @@
             export QT_X11_NO_MITSHM=1
           '';
         };
+
+        formatter = (inputs.treefmt-nix.lib.evalModule pkgs ./treefmt.nix).config.build.wrapper;
       }
     );
 

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,28 +1,24 @@
+from warnings import deprecated
 import rclpy
 from rclpy.node import Node
 from rclpy.executors import ExternalShutdownException
-from std_srvs.srv import Empty
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 
-import signal
-import time
 import atexit
 
-import serial
-import serial.tools.list_ports
-import os
-import sys
+from .connector import (
+    Connector,
+    MockConnector,
+    SerialConnector,
+    CANConnector,
+    NoValidDeviceException,
+    NoWorkingDeviceException,
+)
+from .convert import string_to_viccan
 import threading
-import glob
 
-from std_msgs.msg import String, Header
 from astra_msgs.msg import VicCAN
-
-KNOWN_USBS = [
-    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
-    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
-    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
-    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
-]
+from std_msgs.msg import String
 
 
 class Anchor(Node):
@@ -36,308 +32,204 @@ class Anchor(Node):
         - VicCAN messages for Arm node
     * /anchor/from_vic/bio
         - VicCAN messages for Bio node
+    * /anchor/to_vic/debug
+        - A string copy of the messages published to ./relay are published here
 
     Subscribers:
     * /anchor/from_vic/mock_mcu
-        - For testing without an actual MCU, publish strings here as if they came from an MCU
+        - For testing without an actual MCU, publish ViCAN messages 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
+        - Send raw strings to connectors. Does not work for connectors that require conversion (like CANConnector)
+    * /anchor/relay
+        - Legacy method for talking to connectors. Takes String as input, but does not send the raw strings to connectors.
+          Instead, it converts them to VicCAN messages first.
     """
 
+    connector: Connector
+
     def __init__(self):
-        # Initalize node with name
-        super().__init__("anchor_node")  # previously 'serial_publisher'
+        super().__init__("anchor_node")
 
-        self.serial_port: str | None = None  # e.g., "/dev/ttyUSB0"
+        logger = self.get_logger()
 
-        # Serial port override
-        if port_override := os.getenv("PORT_OVERRIDE"):
-            self.serial_port = port_override
+        # ROS2 Parameter Setup
 
-        ##################################################
-        # 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,
+        self.declare_parameter(
+            "connector",
+            "auto",
+            ParameterDescriptor(
+                name="connector",
+                description="Declares which MCU connector should be used. Defaults to 'auto'.",
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be 'serial', 'can', 'mock', or 'auto'.",
+            ),
         )
-            )
-            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.declare_parameter(
+            "can_override",
+            "",
+            ParameterDescriptor(
+                name="can_override",
+                description="Overrides which CAN channel will be used. Defaults to ''.",
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be a valid CAN network that shows up in `ip link show`.",
+            ),
         )
-                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.get_logger().warning("Falling back to legacy MCU discovery...")
-            ports = Anchor.list_serial_ports()
-            for _ in range(4):
-                if self.serial_port is not None:
-                    break
-                for port in ports:
+        self.declare_parameter(
+            "serial_override",
+            "",
+            ParameterDescriptor(
+                name="serial_override",
+                description="Overrides which serial port will be used. Defaults to ''.",
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be a valid path to a serial device file that shows up in `ls /dev/tty*`.",
+            ),
+        )
+
+        # Determine which connector to use. Options are Mock, Serial, and CAN
+        connector_select = (
+            self.get_parameter("connector").get_parameter_value().string_value
+        )
+        can_override = (
+            self.get_parameter("can_override").get_parameter_value().string_value
+        )
+        serial_override = (
+            self.get_parameter("serial_override").get_parameter_value().string_value
+        )
+        match connector_select:
+            case "serial":
+                logger.info("using serial connector")
+                self.connector = SerialConnector(
+                    logger, self.get_clock(), serial_override
+                )
+            case "can":
+                logger.info("using CAN connector")
+                self.connector = CANConnector(logger, self.get_clock(), can_override)
+            case "mock":
+                logger.info("using mock connector")
+                self.connector = MockConnector(logger, self.get_clock())
+            case "auto":
+                logger.info("automatically determining connector")
                 try:
-                        # connect and send a ping command
-                        ser = serial.Serial(port, 115200, timeout=1)
-                        # (f"Checking port {port}...")
-                        ser.write(b"ping\n")
-                        response = ser.read_until(bytes("\n", "utf8"))
-
-                        # if pong is in response, then we are talking with the MCU
-                        if b"pong" in response:
-                            self.serial_port = port
-                            self.get_logger().info(f"Found MCU at {self.serial_port}!")
-                            break
-                    except:
-                        pass
-
-        # If port is still None then we ain't finding no mcu
-        if self.serial_port is None:
-            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}'..."
+                    logger.info("trying CAN connector")
+                    self.connector = CANConnector(
+                        logger, self.get_clock(), can_override
                     )
-            try:
-                self.serial_interface = serial.Serial(
-                    self.serial_port, 115200, timeout=1
+                except (NoValidDeviceException, NoWorkingDeviceException, TypeError):
+                    logger.info("CAN connector failed, trying serial connector")
+                    self.connector = SerialConnector(
+                        logger, self.get_clock(), serial_override
                     )
-
-                # 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}'."
+            case _:
+                logger.fatal(
+                    f"invalid value for connector parameter: {connector_select}"
                 )
+                exit(1)
 
-            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
-        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
+        # Publishers
+        self.fromvic_debug_pub_ = self.create_publisher(  # only used by serial
+            String,
+            "/anchor/from_vic/debug",
+            20,
         )
         self.fromvic_core_pub_ = self.create_publisher(
-            VicCAN, "/anchor/from_vic/core", 20
+            VicCAN,
+            "/anchor/from_vic/core",
+            20,
         )
         self.fromvic_arm_pub_ = self.create_publisher(
-            VicCAN, "/anchor/from_vic/arm", 20
+            VicCAN,
+            "/anchor/from_vic/arm",
+            20,
         )
         self.fromvic_bio_pub_ = self.create_publisher(
-            VicCAN, "/anchor/from_vic/bio", 20
+            VicCAN,
+            "/anchor/from_vic/bio",
+            20,
+        )
+        # Debug publisher
+        self.tovic_debug_pub_ = self.create_publisher(
+            VicCAN,
+            "/anchor/to_vic/debug",
+            20,
         )
 
-        self.mock_mcu_sub_ = self.create_subscription(
-            String, "/anchor/from_vic/mock_mcu", self.on_mock_fromvic, 20
-        )
+        # Subscribers
         self.tovic_sub_ = self.create_subscription(
-            VicCAN, "/anchor/to_vic/relay", self.on_relay_tovic_viccan, 20
+            VicCAN,
+            "/anchor/to_vic/relay",
+            self.write_connector,
+            20,
         )
-        self.tovic_debug_sub_ = self.create_subscription(
-            String, "/anchor/to_vic/relay_string", self.on_relay_tovic_string, 20
+        self.tovic_sub_legacy_ = self.create_subscription(
+            String,
+            "/anchor/relay",
+            self.write_connector_legacy,
+            20,
+        )
+        self.mock_mcu_sub_ = self.create_subscription(
+            String,
+            "/anchor/from_vic/mock_mcu",
+            self.relay_fromvic,
+            20,
+        )
+        self.tovic_string_sub_ = self.create_subscription(
+            String,
+            "/anchor/to_vic/relay_string",
+            self.connector.write_raw,
+            20,
         )
 
-        # Create publishers
-        self.arm_pub = self.create_publisher(String, "/anchor/arm/feedback", 10)
-        self.core_pub = self.create_publisher(String, "/anchor/core/feedback", 10)
-        self.bio_pub = self.create_publisher(String, "/anchor/bio/feedback", 10)
-
-        self.debug_pub = self.create_publisher(String, "/anchor/debug", 10)
-
-        # Create a subscriber
-        self.relay_sub = self.create_subscription(
-            String, "/anchor/relay", self.on_relay_tovic_string, 10
-        )
-
-    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")
-
-            if output:
-                self.relay_fromvic(output)
-                # All output over debug temporarily
-                # self.get_logger().info(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,core"):
-                    self.core_pub.publish(msg)
-                elif output.startswith("can_relay_fromvic,arm") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for voltage readings
-                    self.arm_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,citadel") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for SHT sensor
-                    self.bio_pub.publish(msg)
-                # msg = String()
-                # msg.data = output
-                # self.debug_pub.publish(msg)
-                return
-        except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            try:
-                if self.serial_interface.is_open:
-                    self.serial_interface.close()
-            except:
-                pass
-            exit(1)
-        except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            try:
-                if self.serial_interface.is_open:
-                    self.serial_interface.close()
-            except:
-                pass
-            exit(1)
-        except Exception as e:
-            print(f"Exception: {e}")
-            # print("Closing serial port.")
-            # if self.ser.is_open:
-            #     self.ser.close()
-            # exit(1)
-
-    def on_mock_fromvic(self, msg: String):
-        """For testing without an actual MCU, publish strings here as if they came from an MCU"""
-        # self.get_logger().info(f"Got command from mock MCU: {msg}")
-        self.relay_fromvic(msg.data)
-
-    def on_relay_tovic_viccan(self, msg: VicCAN):
-        """Relay a VicCAN message to the MCU"""
-        output: str = f"can_relay_tovic,{msg.mcu_name},{msg.command_id}"
-        for num in msg.data:
-            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"))
-
-    def relay_fromvic(self, msg: str):
-        """Relay a string message from the MCU to the appropriate VicCAN topic"""
-        self.fromvic_debug_pub_.publish(String(data=msg))
-        parts = msg.strip().split(",")
-        if len(parts) > 0 and parts[0] != "can_relay_fromvic":
-            self.get_logger().debug(f"Ignoring non-VicCAN message: '{msg.strip()}'")
-            return
-
-        # String validation
-        malformed: bool = False
-        malformed_reason: str = ""
-        if len(parts) < 3 or len(parts) > 7:
-            malformed = True
-            malformed_reason = (
-                f"invalid argument count (expected [3,7], got {len(parts)})"
-            )
-        elif parts[1] not in ["core", "arm", "digit", "citadel", "broadcast"]:
-            malformed = True
-            malformed_reason = f"invalid mcu_name '{parts[1]}'"
-        elif not (parts[2].isnumeric()) or int(parts[2]) < 0:
-            malformed = True
-            malformed_reason = f"command_id '{parts[2]}' is not a non-negative integer"
-        else:
-            for x in parts[3:]:
-                try:
-                    float(x)
-                except ValueError:
-                    malformed = True
-                    malformed_reason = f"data '{x}' is not a float"
-                    break
-
-        if malformed:
-            self.get_logger().warning(
-                f"Ignoring malformed from_vic message: '{msg.strip()}'; reason: {malformed_reason}"
-            )
-            return
-
-        # Have valid VicCAN message
-
-        output = VicCAN()
-        output.mcu_name = parts[1]
-        output.command_id = int(parts[2])
-        if len(parts) > 3:
-            output.data = [float(x) for x in parts[3:]]
-        output.header = Header(
-            stamp=self.get_clock().now().to_msg(), frame_id="from_vic"
-        )
-
-        # self.get_logger().info(f"Relaying from MCU: {output}")
-        if output.mcu_name == "core":
-            self.fromvic_core_pub_.publish(output)
-        elif output.mcu_name == "arm" or output.mcu_name == "digit":
-            self.fromvic_arm_pub_.publish(output)
-        elif output.mcu_name == "citadel" or output.mcu_name == "digit":
-            self.fromvic_bio_pub_.publish(output)
-
-    def on_relay_tovic_string(self, msg: String):
-        """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"))
-
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
+        # Close devices on exit
+        atexit.register(self.cleanup)
 
     def cleanup(self):
-        print("Cleaning up before terminating...")
-        if self.serial_interface.is_open:
-            self.serial_interface.close()
+        self.connector.cleanup()
+
+    def read_connector(self):
+        """Check the connector for new data from the MCU, and publish string to appropriate topics"""
+        viccan, raw = self.connector.read()
+
+        if raw:
+            self.fromvic_debug_pub_.publish(String(data=raw))
+
+        if viccan:
+            self.relay_fromvic(viccan)
+
+    def write_connector(self, msg: VicCAN):
+        """Write to the connector and send a copy to /anchor/to_vic/debug"""
+        self.connector.write(msg)
+        self.tovic_debug_pub_.publish(msg)
+
+    @deprecated(
+        "Use /anchor/to_vic/relay or /anchor/to_vic/relay_string instead of /anchor/relay"
+    )
+    def write_connector_legacy(self, msg: String):
+        """Write to the connector by first attempting to convert String to VicCAN"""
+        # please do not reference this code. ~riley
+        for cmd in msg.data.split("\n"):
+            viccan = string_to_viccan(
+                cmd,
+                "anchor",
+                self.get_logger(),
+                self.get_clock().now().to_msg(),
+            )
+            if viccan:
+                self.write_connector(viccan)
+
+    def relay_fromvic(self, msg: VicCAN):
+        """Relay a message from the MCU to the appropriate VicCAN topic"""
+        if msg.mcu_name == "core":
+            self.fromvic_core_pub_.publish(msg)
+        elif msg.mcu_name == "arm" or msg.mcu_name == "digit":
+            self.fromvic_arm_pub_.publish(msg)
+        elif msg.mcu_name == "citadel" or msg.mcu_name == "digit":
+            self.fromvic_bio_pub_.publish(msg)
 
 
 def main(args=None):
@@ -350,16 +242,9 @@ def main(args=None):
 
         rate = anchor_node.create_rate(100)  # 100 Hz -- arbitrary rate
         while rclpy.ok():
-            anchor_node.read_MCU()  # Check the MCU for updates
+            anchor_node.read_connector()  # Check the connector for updates
             rate.sleep()
     except (KeyboardInterrupt, ExternalShutdownException):
         print("Caught shutdown signal, shutting down...")
     finally:
         rclpy.try_shutdown()
-
-
-if __name__ == "__main__":
-    signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
-    )  # Catch termination signals and exit cleanly
-    main()

src/anchor_pkg/anchor_pkg/connector.py

@@ -0,0 +1,438 @@
+from abc import ABC, abstractmethod
+from astra_msgs.msg import VicCAN
+from rclpy.clock import Clock
+from rclpy.impl.rcutils_logger import RcutilsLogger
+from .convert import string_to_viccan as _string_to_viccan, viccan_to_string
+
+# CAN
+import can
+import can.interfaces.socketcan
+import struct
+
+# Serial
+import serial
+import serial.tools.list_ports
+
+KNOWN_USBS = [
+    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
+    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
+    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
+    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
+]
+BAUD_RATE = 115200
+
+MCU_IDS = [
+    "broadcast",
+    "core",
+    "arm",
+    "digit",
+    "faerie",
+    "citadel",
+    "libs",
+]
+
+
+class NoValidDeviceException(Exception):
+    pass
+
+
+class NoWorkingDeviceException(Exception):
+    pass
+
+
+class MultipleValidDevicesException(Exception):
+    pass
+
+
+class DeviceClosedException(Exception):
+    pass
+
+
+class Connector(ABC):
+    logger: RcutilsLogger
+    clock: Clock
+
+    def string_to_viccan(self, msg: str, mcu_name: str):
+        """function currying so that we do not need to pass logger and clock every time"""
+        return _string_to_viccan(
+            msg,
+            mcu_name,
+            self.logger,
+            self.clock.now().to_msg(),
+        )
+
+    def __init__(self, logger: RcutilsLogger, clock: Clock):
+        self.logger = logger
+        self.clock = clock
+
+    @abstractmethod
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        """
+        Must return a tuple of (VicCAN, debug message or string repr of VicCAN)
+        """
+        pass
+
+    @abstractmethod
+    def write(self, msg: VicCAN):
+        pass
+
+    @abstractmethod
+    def write_raw(self, msg: str):
+        pass
+
+    def cleanup(self):
+        pass
+
+
+class SerialConnector(Connector):
+    port: str
+    mcu_name: str
+    serial_interface: serial.Serial
+
+    def __init__(self, logger: RcutilsLogger, clock: Clock, serial_override: str = ""):
+        super().__init__(logger, clock)
+
+        ports = self._find_ports()
+        mcu_name: str | None = None
+
+        if serial_override:
+            logger.warn(
+                f"using serial_override: `{serial_override}`! this will bypass several checks."
+            )
+            ports = [serial_override]
+            mcu_name = "override"
+
+        if len(ports) <= 0:
+            raise NoValidDeviceException("no valid serial device found")
+        if (l := len(ports)) > 1:
+            raise MultipleValidDevicesException(
+                f"too many ({l}) valid serial devices found"
+            )
+
+        # check each of our ports to make sure one of them is responding
+        port = ports[0]
+        # we might already have a name by now if we overrode earlier
+        mcu_name = mcu_name or self._get_name(port)
+        if not mcu_name:
+            raise NoWorkingDeviceException(
+                f"found {port}, but it did not respond with its name"
+            )
+
+        self.port = port
+        self.mcu_name = mcu_name
+
+        # if we fail at this point, it should crash because we've already tested the port
+        self.serial_interface = serial.Serial(self.port, BAUD_RATE, timeout=1)
+
+    def _find_ports(self) -> list[str]:
+        """
+        Finds all valid ports but does not test them
+
+        returns: all valid ports
+        """
+        comports = serial.tools.list_ports.comports()
+        valid_ports = list(
+            map(  # get just device strings
+                lambda p: p.device,
+                filter(  # make sure we have a known device
+                    lambda p: (p.vid, p.pid) in KNOWN_USBS and p.device is not None,
+                    comports,
+                ),
+            )
+        )
+        self.logger.info(f"found valid MCU ports: [ {', '.join(valid_ports)} ]")
+        return valid_ports
+
+    def _get_name(self, port: str) -> str | None:
+        """
+        Get the name of the MCU (if it works)
+
+        returns: str name of the MCU, None if it doesn't work
+        """
+        # attempt to open the serial port
+        serial_interface: serial.Serial
+        try:
+            self.logger.info(f"asking {port} for its name")
+            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
+
+            serial_interface.write(b"can_relay_mode,on\n")
+
+            for i in range(4):
+                self.logger.debug(f"attempt {i + 1} of 4 asking {port} for its name")
+                response = 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:
+                            self.logger.info(f"we are talking to {args[1]}")
+                            return args[1]
+                        break
+                except UnicodeDecodeError as e:
+                    self.logger.info(
+                        f"ignoring UnicodeDecodeError when asking for MCU name: {e}"
+                    )
+
+            if serial_interface.is_open:
+                # turn relay mode off if it failed to respond with its name
+                serial_interface.write(b"can_relay_mode,off\n")
+                serial_interface.close()
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException when asking for MCU name: {e}")
+
+        return None
+
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        try:
+            raw = str(self.serial_interface.readline(), "utf8")
+
+            if not raw:
+                return (None, None)
+
+            return (
+                self.string_to_viccan(raw, self.mcu_name),
+                raw,
+            )
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException: {e}")
+            raise DeviceClosedException(f"serial port {self.port} closed unexpectedly")
+        except Exception:
+            return (None, None)  # pretty much no other error matters
+
+    def write(self, msg: VicCAN):
+        self.write_raw(viccan_to_string(msg))
+
+    def write_raw(self, msg: str):
+        self.serial_interface.write(bytes(msg, "utf8"))
+
+    def cleanup(self):
+        self.logger.info(f"closing serial port if open {self.port}")
+        try:
+            if self.serial_interface.is_open:
+                self.serial_interface.close()
+        except Exception as e:
+            self.logger.error(e)
+
+
+class CANConnector(Connector):
+    def __init__(self, logger: RcutilsLogger, clock: Clock, can_override: str):
+        super().__init__(logger, clock)
+
+        self.can_channel: str | None = None
+        self.can_bus: can.BusABC | None = None
+
+        avail = can.interfaces.socketcan.SocketcanBus._detect_available_configs()
+
+        if len(avail) == 0:
+            raise NoValidDeviceException("no CAN interfaces found")
+
+        # filter to busses whose channel matches the can_override
+        if can_override:
+            self.logger.info(f"overrode can interface with {can_override}")
+            avail = list(
+                filter(
+                    lambda b: b.get("channel") == can_override,
+                    avail,
+                )
+            )
+
+        if (l := len(avail)) > 1:
+            channels = ", ".join(str(b.get("channel")) for b in avail)
+            raise MultipleValidDevicesException(
+                f"too many ({l}) CAN interfaces found: [{channels}]"
+            )
+
+        bus = avail[0]
+        self.can_channel = str(bus.get("channel"))
+        self.logger.info(f"found CAN interface '{self.can_channel}'")
+
+        try:
+            self.can_bus = can.Bus(
+                interface="socketcan",
+                channel=self.can_channel,
+                bitrate=1_000_000,
+            )
+        except can.CanError as e:
+            raise NoWorkingDeviceException(
+                f"could not open CAN channel '{self.can_channel}': {e}"
+            )
+
+        if self.can_channel and self.can_channel.startswith("v"):
+            self.logger.warn("CAN interface is likely virtual")
+
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        if not self.can_bus:
+            raise DeviceClosedException("CAN bus not initialized")
+
+        try:
+            message = self.can_bus.recv(timeout=0.0)
+        except can.CanError as e:
+            self.logger.error(f"CAN error while receiving: {e}")
+            raise DeviceClosedException("CAN bus closed unexpectedly")
+
+        if message is None:
+            return (None, None)
+
+        arbitration_id = message.arbitration_id & 0x7FF
+        data_bytes = bytes(message.data)
+
+        mcu_key = (arbitration_id >> 8) & 0b111
+        data_type_key = (arbitration_id >> 6) & 0b11
+        command = arbitration_id & 0x3F
+
+        try:
+            mcu_name = MCU_IDS[mcu_key]
+        except IndexError:
+            self.logger.warn(
+                f"received CAN frame with unknown MCU key {mcu_key}; id=0x{arbitration_id:X}"
+            )
+            return (None, None)
+
+        data: list[float] = []
+
+        try:
+            if data_type_key == 3:
+                data = []
+            elif data_type_key == 0:
+                if len(data_bytes) < 8:
+                    self.logger.warn(
+                        f"received double payload with insufficient length {len(data_bytes)}; dropping frame"
+                    )
+                    return (None, None)
+                (value,) = struct.unpack(">d", data_bytes[:8])
+                data = [float(value)]
+            elif data_type_key == 1:
+                if len(data_bytes) < 8:
+                    self.logger.warn(
+                        f"received float32x2 payload with insufficient length {len(data_bytes)}; dropping frame"
+                    )
+                    return (None, None)
+                v1, v2 = struct.unpack(">ff", data_bytes[:8])
+                data = [float(v1), float(v2)]
+            elif data_type_key == 2:
+                if len(data_bytes) < 8:
+                    self.logger.warn(
+                        f"received int16x4 payload with insufficient length {len(data_bytes)}; dropping frame"
+                    )
+                    return (None, None)
+                i1, i2, i3, i4 = struct.unpack(">hhhh", data_bytes[:8])
+                data = [float(i1), float(i2), float(i3), float(i4)]
+            else:
+                self.logger.warn(
+                    f"received CAN frame with unknown data_type_key {data_type_key}; id=0x{arbitration_id:X}"
+                )
+                return (None, None)
+        except struct.error as e:
+            self.logger.error(f"error unpacking CAN payload: {e}")
+            return (None, None)
+
+        viccan = VicCAN(
+            mcu_name=mcu_name,
+            command_id=int(command),
+            data=data,
+        )
+
+        self.logger.debug(
+            f"received CAN frame id=0x{message.arbitration_id:X}, "
+            f"decoded as VicCAN(mcu_name={viccan.mcu_name}, command_id={viccan.command_id}, data={viccan.data})"
+        )
+
+        return (
+            viccan,
+            f"{viccan.mcu_name},{viccan.command_id},"
+            + ",".join(map(str, list(viccan.data))),
+        )
+
+    def write(self, msg: VicCAN):
+        if not self.can_bus:
+            raise DeviceClosedException("CAN bus not initialized")
+
+        # build 11-bit arbitration ID according to VicCAN spec:
+        # bits 10..8: targeted MCU key
+        # bits 7..6:  data type key
+        # bits 5..0:  command
+
+        # map MCU name to 3-bit key.
+        try:
+            mcu_id = MCU_IDS.index((msg.mcu_name or "").lower())
+        except ValueError:
+            self.logger.error(
+                f"unknown VicCAN mcu_name '{msg.mcu_name}' for CAN frame; dropping message"
+            )
+            return
+
+        # determine data type from length:
+        # 0: double x1, 1: float32 x2, 2: int16 x4, 3: empty
+        match data_len := len(msg.data):
+            case 0:
+                data_type = 3
+                data = bytes()
+            case 1:
+                data_type = 0
+                data = struct.pack(">d", *msg.data)
+            case 2:
+                data_type = 1
+                data = struct.pack(">ff", *msg.data)
+            case 3 | 4:  # 3 gets treated as 4
+                data_type = 2
+                if data_len == 3:
+                    msg.data.append(0)
+                data = struct.pack(">hhhh", *[int(x) for x in msg.data])
+            case _:
+                self.logger.error(
+                    f"unexpected VicCAN data length: {data_len}; dropping message"
+                )
+                return
+
+        # command is limited to 6 bits.
+        command = int(msg.command_id)
+        if command < 0 or command > 0x3F:
+            self.logger.error(
+                f"invalid command_id for CAN frame: {command}; dropping message"
+            )
+            return
+
+        try:
+            can_message = can.Message(
+                arbitration_id=(mcu_id << 8) | (data_type << 6) | command,
+                data=data,
+                is_extended_id=False,
+            )
+        except Exception as e:
+            self.logger.error(f"failed to construct CAN message: {e}")
+            return
+
+        try:
+            self.can_bus.send(can_message)
+            self.logger.debug(
+                f"sent CAN frame id=0x{can_message.arbitration_id:X}, "
+                f"data={list(can_message.data)}"
+            )
+        except can.CanError as e:
+            self.logger.error(f"CAN error while sending: {e}")
+            raise DeviceClosedException("CAN bus closed unexpectedly")
+
+    def write_raw(self, msg: str):
+        self.logger.warn(f"write_raw is not supported for CANConnector. msg: {msg}")
+
+    def cleanup(self):
+        try:
+            if self.can_bus is not None:
+                self.logger.info("shutting down CAN bus")
+                self.can_bus.shutdown()
+        except Exception as e:
+            self.logger.error(e)
+
+
+class MockConnector(Connector):
+    def __init__(self, logger: RcutilsLogger, clock: Clock):
+        super().__init__(logger, clock)
+        # No hardware interface for MockConnector. Publish to `/anchor/from_vic/mock_mcu` instead.
+
+    def read(self) -> tuple[VicCAN | None, str | None]:
+        return (None, None)
+
+    def write(self, msg: VicCAN):
+        pass
+
+    def write_raw(self, msg: str):
+        pass

src/anchor_pkg/anchor_pkg/convert.py

@@ -0,0 +1,65 @@
+from astra_msgs.msg import VicCAN
+from std_msgs.msg import Header
+from builtin_interfaces.msg import Time
+from rclpy.impl.rcutils_logger import RcutilsLogger
+
+
+def string_to_viccan(
+    msg: str, mcu_name: str, logger: RcutilsLogger, time: Time
+) -> VicCAN | None:
+    """
+    Converts the serial string VicCAN format to a ROS2 VicCAN message.
+    Does not fill out the Header of the message.
+    On a failure, it will log at a debug level why it failed and return None.
+    """
+
+    parts: list[str] = msg.strip().split(",")
+
+    # don't need an extra check because len of .split output is always >= 1
+    if not parts[0].startswith("can_relay_"):
+        logger.debug(f"got non-CAN data from {mcu_name}: {msg}")
+        return None
+    elif len(parts) < 3:
+        logger.debug(f"got garbage (not enough parts) CAN data from {mcu_name}: {msg}")
+        return None
+    elif len(parts) > 7:
+        logger.debug(f"got garbage (too many parts) CAN data from {mcu_name}: {msg}")
+        return None
+
+    try:
+        command_id = int(parts[2])
+    except ValueError:
+        logger.debug(
+            f"got garbage (non-integer command id) CAN data from {mcu_name}: {msg}"
+        )
+        return None
+
+    if command_id not in range(64):
+        logger.debug(
+            f"got garbage (wrong command id {command_id}) CAN data from {mcu_name}: {msg}"
+        )
+        return None
+
+    try:
+        return VicCAN(
+            header=Header(
+                stamp=time,
+                frame_id="from_vic",
+            ),
+            mcu_name=parts[1],
+            command_id=command_id,
+            data=[float(x) for x in parts[3:]],
+        )
+    except ValueError:
+        logger.debug(f"got garbage (non-numerical) CAN data from {mcu_name}: {msg}")
+        return None
+
+
+def viccan_to_string(viccan: VicCAN) -> str:
+    """Converts a ROS2 VicCAN message to the serial string VicCAN format."""
+    # make sure we accept 3 digits and treat it as 4
+    if len(viccan.data) == 3:
+        viccan.data.append(0)
+    # go from [ w, x, y, z ] -> ",w,x,y,z" & round to 7 digits max
+    data = "".join([f",{round(val,7)}" for val in viccan.data])
+    return f"can_relay_tovic,{viccan.mcu_name},{viccan.command_id}{data}\n"

src/anchor_pkg/launch/rover.launch.py

@@ -1,138 +1,174 @@
-#!/usr/bin/env python3
-
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
-from launch.substitutions import (
-    LaunchConfiguration,
-    ThisLaunchFileDir,
-    PathJoinSubstitution,
-)
-from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, Shutdown, IncludeLaunchDescription
 from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
-# Prevent making __pycache__ directories
-from sys import dont_write_bytecode
+def generate_launch_description():
+    connector = LaunchConfiguration("connector")
+    serial_override = LaunchConfiguration("serial_override")
+    can_override = LaunchConfiguration("can_override")
+    use_ptz = LaunchConfiguration("use_ptz")
 
-dont_write_bytecode = True
+    ld = LaunchDescription()
 
+    # arguments
+    ld.add_action(
+        DeclareLaunchArgument(
+            "connector",
+            default_value="auto",
+            description="Connector parameter for anchor node (default: 'auto')",
+        )
+    )
 
-def launch_setup(context, *args, **kwargs):
-    # Retrieve the resolved value of the launch argument 'mode'
-    mode = LaunchConfiguration("mode").perform(context)
-    nodes = []
+    ld.add_action(
+        DeclareLaunchArgument(
+            "serial_override",
+            default_value="",
+            description="Serial port override parameter for anchor node (default: '')",
+        )
+    )
 
-    if mode == "anchor":
-        # Launch every node and pass "anchor" as the parameter
+    ld.add_action(
+        DeclareLaunchArgument(
+            "can_override",
+            default_value="",
+            description="CAN network override parameter for anchor node (default: '')",
+        )
+    )
 
-        nodes.append(
-            Node(
-                package="arm_pkg",
-                executable="arm",  # change as needed
-                name="arm",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
+    ld.add_action(
+        DeclareLaunchArgument(
+            "use_ptz",
+            default_value="true",  # must be string for launch system
+            description="Whether to launch PTZ node (default: true)",
         )
     )
-        nodes.append(
-            Node(
-                package="core_pkg",
-                executable="core",  # change as needed
-                name="core",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "use_ros2_control",
+            default_value="false",
+            description="Whether to use DiffDriveController for driving instead of direct Twist",
         )
     )
-        nodes.append(
-            Node(
-                package="core_pkg",
-                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
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "rover_platform_override",
+            default_value="",
+            description="Override the rover platform (either clucky or testbed). If unset, hostname is used; defaults to clucky without hostname.",
+            choices=["clucky", "testbed", ""],
         )
     )
-        nodes.append(
-            Node(
-                package="bio_pkg",
-                executable="bio",  # change as needed
-                name="bio",
-                output="both",
-                parameters=[{"launch_mode": mode}],
-                on_exit=Shutdown(),
-            )
-        )
-        nodes.append(
+
+    # nodes
+    ld.add_action(
         Node(
             package="anchor_pkg",
-                executable="anchor",  # change as needed
+            executable="anchor",
             name="anchor",
             output="both",
-                parameters=[{"launch_mode": mode}],
+            parameters=[
+                {
+                    "launch_mode": "anchor",
+                    "connector": connector,
+                    "serial_override": serial_override,
+                    "can_override": can_override,
+                }
+            ],
             on_exit=Shutdown(),
         )
     )
-    elif mode in ["arm", "core", "bio", "ptz"]:
-        # Only launch the node corresponding to the provided mode.
-        if mode == "arm":
-            nodes.append(
+
+    ld.add_action(
         Node(
             package="arm_pkg",
             executable="arm",
             name="arm",
             output="both",
-                    parameters=[{"launch_mode": mode}],
+            parameters=[{"launch_mode": "anchor"}],
             on_exit=Shutdown(),
         )
     )
-        elif mode == "core":
-            nodes.append(
-                Node(
-                    package="core_pkg",
-                    executable="core",
-                    name="core",
-                    output="both",
-                    parameters=[{"launch_mode": mode}],
-                    on_exit=Shutdown(),
-                )
-            )
-        elif mode == "bio":
-            nodes.append(
+
+    ld.add_action(
         Node(
             package="bio_pkg",
             executable="bio",
             name="bio",
             output="both",
-                    parameters=[{"launch_mode": mode}],
+            parameters=[{"launch_mode": "anchor"}],
             on_exit=Shutdown(),
         )
     )
-        elif mode == "ptz":
-            nodes.append(
+
+    ld.add_action(
+        Node(
+            package="core_pkg",
+            executable="core",
+            name="core",
+            output="both",
+            parameters=[
+                {"launch_mode": "anchor"},
+                {
+                    "use_ros2_control": LaunchConfiguration(
+                        "use_ros2_control", default=False
+                    )
+                },
+                {
+                    "rover_platform_override": LaunchConfiguration(
+                        "rover_platform_override", default="auto"
+                    )
+                },
+            ],
+            on_exit=Shutdown(),
+        )
+    )
+
+    ld.add_action(
         Node(
             package="core_pkg",
             executable="ptz",
             name="ptz",
             output="both",
-                    on_exit=Shutdown(),  # on fail, shutdown if this was the only node to be launched
+            condition=IfCondition(use_ptz),
         )
     )
-    else:
-        # If an invalid mode is provided, print an error.
-        print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
 
-    return nodes
-
-
-def generate_launch_description():
-    declare_arg = DeclareLaunchArgument(
-        "mode",
-        default_value="anchor",
-        description="Launch mode: arm, core, bio, anchor, or ptz",
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("core_description"),
+                        "launch",
+                        "robot_state_publisher.launch.py",
+                    ]
+                )
+            ),
+            condition=IfCondition(LaunchConfiguration("use_ros2_control")),
+            launch_arguments={("hardware_mode", "physical")},
+        )
     )
 
-    return LaunchDescription([declare_arg, OpaqueFunction(function=launch_setup)])
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("core_description"),
+                        "launch",
+                        "spawn_controllers.launch.py",
+                    ]
+                )
+            ),
+            condition=IfCondition(LaunchConfiguration("use_ros2_control")),
+            launch_arguments={("hardware_mode", "physical")},
+        )
+    )
+
+    return ld

src/anchor_pkg/package.xml

@@ -3,13 +3,20 @@
 <package format="3">
   <name>anchor_pkg</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <description>ASTRA VicCAN driver package, using python-can and pyserial.</description>
+  <maintainer email="rjm0037@uah.edu">Riley</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
-  <depend>common_interfaces</depend>
-  <depend>python3-serial</depend>
+
+  <exec_depend>common_interfaces</exec_depend>
+  <exec_depend>python3-serial</exec_depend>
+  <exec_depend>python3-can</exec_depend>
+
+  <exec_depend>core_pkg</exec_depend>
+  <exec_depend>arm_pkg</exec_depend>
+  <exec_depend>bio_pkg</exec_depend>
+  <exec_depend>core_description</exec_depend>
 
   <build_depend>black</build_depend>
 

src/anchor_pkg/setup.cfg

@@ -2,3 +2,5 @@
 script_dir=$base/lib/anchor_pkg
 [install]
 install_scripts=$base/lib/anchor_pkg
+[build_scripts]
+executable= /usr/bin/env python3

src/anchor_pkg/setup.py

@@ -6,7 +6,7 @@ package_name = "anchor_pkg"
 
 setup(
     name=package_name,
-    version="0.0.0",
+    version="1.0.0",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
@@ -17,8 +17,8 @@ setup(
     zip_safe=True,
     maintainer="tristan",
     maintainer_email="tristanmcginnis26@gmail.com",
-    description="Anchor node used to run all modules through a single modules MCU/Computer. Commands to all modules will be relayed through CAN",
-    license="All Rights Reserved",
+    description="ASTRA VicCAN driver package, using python-can and pyserial.",
+    license="AGPL-3.0-only",
     entry_points={
         "console_scripts": ["anchor = anchor_pkg.anchor_node:main"],
     },

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

@@ -1,115 +1,93 @@
+import sys
+import signal
+import math
+from warnings import deprecated
+
 import rclpy
 from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
 from rclpy import qos
-import serial
-import sys
-import threading
-import glob
-import time
-import atexit
-import signal
+
 from std_msgs.msg import String, Header
 from sensor_msgs.msg import JointState
-from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
-from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
-import math
+from control_msgs.msg import JointJog
+from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual  # TODO: Old topics
+from astra_msgs.msg import ArmFeedback, ArmCtrlState, VicCAN, RevMotorState
 
-# control_qos = qos.QoSProfile(
-#     history=qos.QoSHistoryPolicy.KEEP_LAST,
-#     depth=1,
-#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-#     durability=qos.QoSDurabilityPolicy.VOLATILE,
-#     deadline=1000,
-#     lifespan=500,
-#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-#     liveliness_lease_duration=5000
-# )
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    depth=2,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
+)
 
-thread = None
 
-# Used to verify the length of an incoming VicCAN feedback message
-# Key is VicCAN command_id, value is expected length of data list
-viccan_socket_msg_len_dict = {
+class ArmNode(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 = {
+    }
+
+    viccan_digit_msg_len_dict = {
         54: 4,
         55: 2,
         59: 2,
-}
+    }
 
-
-class ArmNode(Node):
     def __init__(self):
         super().__init__("arm_node")
 
         self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
 
         ##################################################
-        # Topics
+        # Parameters
 
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = (
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
+        )
+
+        ##################################################
+        # Old topics
+
+        if self.use_old_topics:
             # Anchor topics
-        self.anchor_fromvic_sub_ = self.create_subscription(
-            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
-        )
-        self.anchor_tovic_pub_ = self.create_publisher(
-            VicCAN, "/anchor/to_vic/relay", 20
-        )
-
             self.anchor_sub = self.create_subscription(
                 String, "/anchor/arm/feedback", self.anchor_feedback, 10
             )
             self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
 
-        # Control
-
-        # Manual: who tf knows. Maybe JointJog?
-        # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
-        self.joint_command_sub_ = self.create_subscription(
-            JointState, "/joint_commands", self.joint_command_callback, 1
-        )
-
-        # Feedback
-
-        self.arm_feedback_pub_ = self.create_publisher(
-            ArmFeedback,
-            "/arm/feedback/new_feedback",
-            qos_profile=qos.qos_profile_sensor_data,
-        )
-        self.arm_feedback_new = ArmFeedback()
-        # IK: /joint_states is published from here to topic_based_control
-        self.joint_state_pub_ = self.create_publisher(
-            JointState, "joint_states", qos_profile=qos.qos_profile_sensor_data
-        )
-        self.saved_joint_state = JointState()
-        self.saved_joint_state.name = [
-            "Axis_0_Joint",
-            "Axis_1_Joint",
-            "Axis_2_Joint",
-            "Axis_3_Joint",
-            "Wrist_Differential_Joint",
-            "Wrist-EF_Roll_Joint",
-            "Gripper_Slider_Left",
-        ]
-        self.saved_joint_state.position = [0.0] * len(
-            self.saved_joint_state.name
-        )  # Initialize with zeros
-        self.saved_joint_state.velocity = [0.0] * len(
-            self.saved_joint_state.name
-        )  # Initialize with zeros
-
-        # Old
-
             # Create publishers
             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_pub = self.create_publisher(
+                DigitFeedback, "/arm/feedback/digit", 10
+            )
             self.digit_feedback = DigitFeedback()
             self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
 
@@ -118,41 +96,179 @@ class ArmNode(Node):
                 ArmManual, "/arm/control/manual", self.send_manual, 10
             )
 
-    def run(self):
-        global thread
-        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
-        thread.start()
+        ###################################################
+        # New topics
 
-        try:
-            while rclpy.ok():
-                pass
-        except KeyboardInterrupt:
-            pass
+        # Anchor topics
+
+        # from_vic
+        self.anchor_fromvic_sub_ = self.create_subscription(
+            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
+        )
+        # to_vic
+        self.anchor_tovic_pub_ = self.create_publisher(
+            VicCAN, "/anchor/to_vic/relay", 20
+        )
+
+        # Control
+
+        # Manual: /arm/control/joint_jog is published by Basestation or Headless
+        self.man_jointjog_sub_ = self.create_subscription(
+            JointJog,
+            "/arm/control/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,
+        )
+        # State: /arm/control/state is published by Basestation or Headless
+        self.man_state_sub_ = self.create_subscription(
+            ArmCtrlState,
+            "/arm/control/state",
+            self.man_state_callback,
+            qos_profile=control_qos,
+        )
+
+        # Feedback
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_pub_ = self.create_publisher(
+            ArmFeedback,
+            "/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
+        )
+
+        ###################################################
+        # Saved state
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_new = ArmFeedback()
+        self.arm_feedback_new.axis0_motor.id = 1
+        self.arm_feedback_new.axis1_motor.id = 2
+        self.arm_feedback_new.axis2_motor.id = 3
+        self.arm_feedback_new.axis3_motor.id = 4
+
+        # IK Arm pose
+        self.saved_joint_state = JointState()
+        self.saved_joint_state.header.frame_id = "base_link"
+        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) != len(msg.velocities):
+            self.get_logger().debug("Ignoring malformed /arm/manual/joint_jog message.")
+            return
+
+        # Grab velocities from message
+        velocities = [
+            (
+                msg.velocities[msg.joint_names.index(joint_name)]  # type: ignore
+                if joint_name in msg.joint_names
+                else 0.0
+            )
+            for joint_name in self.all_joint_names
+        ]
+        # Deadzone
+        velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities]
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=39,
+                data=velocities[0:4],
+                header=msg.header,
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit",
+                command_id=39,
+                data=velocities[4:6],
+                header=msg.header,
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit",
+                command_id=26,
+                data=[velocities[6]],
+                header=msg.header,
+            )
+        )
+
+        # TODO: use msg.duration
+
+    def man_state_callback(self, msg: ArmCtrlState):
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=18,
+                data=[1.0 if msg.brake_mode else 0.0],
+                header=Header(stamp=self.get_clock().now().to_msg()),
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=34,
+                data=[1.0 if msg.laser else 0.0],
+                header=Header(stamp=self.get_clock().now().to_msg()),
+            )
+        )
 
     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
-        # TODO: formalize joint names in URDF, refactor here to depend on joint names
-        # Embedded takes deg*10, ROS2 uses Radians
+        # Grab velocities from message
         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
-        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.send_velocities(velocities, msg.header)
 
-        self.anchor_tovic_pub_.publish(arm_cmd)
-        self.anchor_tovic_pub_.publish(digit_cmd)
+    def send_velocities(self, velocities: list[float], header: Header):
+        # 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[0:4], header=header)
+        )
+        # Send Wrist yaw and roll
+        # TODO: Verify embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(mcu_name="digit", command_id=43, data=velocities[4:6], 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):
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
@@ -167,7 +283,7 @@ class ArmNode(Node):
 
         command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
 
-        # command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
+        command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
 
         command += f"can_relay_tovic,digit,28,{msg.laser}\n"
 
@@ -177,10 +293,12 @@ class ArmNode(Node):
 
         return
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_cmd(self, msg: str):
         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):
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
@@ -214,18 +332,19 @@ class ArmNode(Node):
             self.process_fromvic_digit(msg)
 
     def process_fromvic_arm(self, msg: VicCAN):
-        if msg.mcu_name != "arm":
-            return
+        assert msg.mcu_name == "arm"
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_socket_msg_len_dict:
-            expected_len = viccan_socket_msg_len_dict[msg.command_id]
+        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
 
+        self.arm_feedback_new.header.stamp = msg.header.stamp
+
         match msg.command_id:
             case 53:  # REV SPARK MAX feedback
                 motorId = round(msg.data[0])
@@ -252,17 +371,14 @@ class ArmNode(Node):
                 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)
+                self.saved_joint_state.position[2] = math.radians(angles[2])  # Axis 2
+                self.saved_joint_state.position[3] = math.radians(angles[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)
@@ -294,33 +410,35 @@ class ArmNode(Node):
                     velocities[1]
                 )  # Axis 1
                 self.saved_joint_state.velocity[2] = math.radians(
-                    -velocities[2]
-                )  # Axis 2 (-)
+                    velocities[2]
+                )  # Axis 2
                 self.saved_joint_state.velocity[3] = math.radians(
-                    -velocities[3]
-                )  # Axis 3 (-)
+                    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
+        assert msg.mcu_name == "digit"
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_digit_msg_len_dict:
-            expected_len = viccan_digit_msg_len_dict[msg.command_id]
+        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
 
+        self.arm_feedback_new.header.stamp = msg.header.stamp
+
         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
+                self.arm_feedback_new.digit_voltage.header.stamp = msg.header.stamp
             case 55:  # Arm joint positions
                 self.saved_joint_state.position[4] = math.radians(
                     msg.data[0]
@@ -329,10 +447,12 @@ class ArmNode(Node):
                     msg.data[1]
                 )  # Wrist yaw
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def publish_feedback(self):
         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):
         # Angle feedbacks,
         # split the msg.data by commas
@@ -351,6 +471,7 @@ 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):
         # Bus Voltage feedbacks
         parts = msg.split(",")
@@ -365,6 +486,7 @@ 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):
         parts = str(msg.strip()).split(",")
         motorId = round(float(parts[3]))
@@ -389,17 +511,27 @@ 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()
-    arm_node.run()
+
+    try:
+        rclpy.spin(arm_node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    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
     main()

src/arm_pkg/package.xml

@@ -3,14 +3,15 @@
 <package format="3">
   <name>arm_pkg</name>
   <version>1.0.0</version>
-  <description>Core arm package which handles ROS2 commnuication.</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <description>Relays topics related to Arm between VicCAN (through Anchor) and basestation.</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
-  <depend>common_interfaces</depend>
-  <depend>python3-numpy</depend>
-  <depend>astra_msgs</depend>
+
+  <exec_depend>common_interfaces</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>astra_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/arm_pkg/setup.py

@@ -1,27 +1,22 @@
-from setuptools import find_packages, setup
-import os
-from glob import glob
+from setuptools import setup
 
 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_email="tristanmcginnis26@gmail.com",
-    description="TODO: Package description",
-    license="All Rights Reserved",
+    maintainer="David Sharpe",
+    maintainer_email="ds0196@uah.edu",
+    description="Relays topics related to Arm between VicCAN (through Anchor) and basestation.",
+    license="AGPL-3.0-only",
     entry_points={
-        "console_scripts": [
-            "arm = arm_pkg.arm_node:main",
-            "headless = arm_pkg.arm_headless:main",
-        ],
+        "console_scripts": ["arm = arm_pkg.arm_node:main"],
     },
 )

src/bio_pkg/package.xml

@@ -2,14 +2,16 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bio_pkg</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <version>1.0.0</version>
+  <description>Biosensor package to handle command interpretation and embedded interfacing.</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
-  <depend>common_interfaces</depend>
-  <depend>astra_msgs</depend>
+
+  <exec_depend>common_interfaces</exec_depend>
+
+  <exec_depend>astra_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/bio_pkg/setup.cfg

@@ -2,3 +2,5 @@
 script_dir=$base/lib/bio_pkg
 [install]
 install_scripts=$base/lib/bio_pkg
+[build_scripts]
+executable= /usr/bin/env python3

src/bio_pkg/setup.py

@@ -14,8 +14,8 @@ setup(
     zip_safe=True,
     maintainer="tristan",
     maintainer_email="tristanmcginnis26@gmail.com",
-    description="TODO: Package description",
-    license="TODO: License declaration",
+    description="Relays topics related to Biosensor between VicCAN (through Anchor) and basestation.",
+    license="AGPL-3.0-only",
     entry_points={
         "console_scripts": ["bio = bio_pkg.bio_node:main"],
     },

src/core_pkg/core_pkg/core_headless.py

@@ -1,112 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-import pygame
-
-import time
-
-import serial
-import sys
-import threading
-import glob
-import os
-
-import importlib
-from std_msgs.msg import String
-from astra_msgs.msg import CoreControl
-
-
-os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
-os.environ["SDL_AUDIODRIVER"] = (
-    "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
-)
-
-
-max_speed = 90  # Max speed as a duty cycle percentage (1-100)
-
-
-class Headless(Node):
-    def __init__(self):
-        # Initialize pygame first
-        pygame.init()
-        pygame.joystick.init()
-
-        # Wait for a gamepad to be connected
-        self.gamepad = None
-        print("Waiting for gamepad connection...")
-        while pygame.joystick.get_count() == 0:
-            # Process any pygame events to keep it responsive
-            for event in pygame.event.get():
-                if event.type == pygame.QUIT:
-                    pygame.quit()
-                    sys.exit(0)
-            time.sleep(1.0)  # Check every second
-            print("No gamepad found. Waiting...")
-
-        # Initialize the gamepad
-        self.gamepad = pygame.joystick.Joystick(0)
-        self.gamepad.init()
-        print(f"Gamepad Found: {self.gamepad.get_name()}")
-
-        # Now initialize the ROS2 node
-        super().__init__("core_headless")
-        self.create_timer(0.15, self.send_controls)
-        self.publisher = self.create_publisher(CoreControl, "/core/control", 10)
-        self.lastMsg = (
-            String()
-        )  # Used to ignore sending controls repeatedly when they do not change
-
-    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():
-                self.send_controls()
-                time.sleep(0.1)  # Small delay to avoid CPU hogging
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def send_controls(self):
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                sys.exit(0)
-
-        # Check if controller is still connected
-        if pygame.joystick.get_count() == 0:
-            print("Gamepad disconnected. Exiting...")
-            # Send one last zero control message
-            input = CoreControl()
-            input.left_stick = 0
-            input.right_stick = 0
-            input.max_speed = 0
-            self.publisher.publish(input)
-            self.get_logger().info("Final stop command sent. Shutting down.")
-            # Clean up
-            pygame.quit()
-            sys.exit(0)
-
-        input = CoreControl()
-        input.max_speed = max_speed
-        input.right_stick = -1 * round(self.gamepad.get_axis(4), 2)  # right y-axis
-        if self.gamepad.get_axis(5) > 0:
-            input.left_stick = input.right_stick
-        else:
-            input.left_stick = -1 * round(self.gamepad.get_axis(1), 2)  # left y-axis
-
-        output = f"L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}"
-        self.get_logger().info(f"[Ctrl] {output}")
-        self.publisher.publish(input)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = Headless()
-    rclpy.spin(node)
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

src/core_pkg/core_pkg/core_node.py

@@ -1,20 +1,17 @@
-import rclpy
-from rclpy.node import Node
-from rclpy import qos
-from rclpy.duration import Duration
-from std_srvs.srv import Empty
-
-import signal
-import time
-import atexit
-
-import serial
-import os
 import sys
-import threading
-import glob
+import signal
+from typing import Literal, cast
 from scipy.spatial.transform import Rotation
 from math import copysign, pi
+from warnings import deprecated
+from os import getenv
+from socket import gethostname
+
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
+from rclpy import qos
+from rclpy.duration import Duration
 
 from std_msgs.msg import String, Header
 from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus, JointState
@@ -23,27 +20,33 @@ from astra_msgs.msg import CoreControl, CoreFeedback, RevMotorState
 from astra_msgs.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
 
 
-serial_pub = None
-thread = None
-
 CORE_WHEELBASE = 0.836  # meters
 CORE_WHEEL_RADIUS = 0.171  # meters
-CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
+CORE_GEAR_RATIO = 100.0  # Clucky: 100:1
+
+# TODO: update core_description or add testbed_description
+TESTBED_WHEELBASE = 0.368  # meters
+TESTBED_WHEEL_RADIUS = 0.108  # meters
+TESTBED_GEAR_RATIO = 64  # Testbed: 64:1
 
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
-# Used to verify the length of an incoming VicCAN feedback message
-# Key is VicCAN command_id, value is expected length of data list
-viccan_msg_len_dict = {
+
+class CoreNode(Node):
+    """Relay between Anchor and Basestation/Headless/Moveit2 for Core related topics."""
+
+    # Used to verify the length of an incoming VicCAN feedback message
+    # Key is VicCAN command_id, value is expected length of data list
+    viccan_msg_len_dict = {
         48: 1,
         49: 1,
         50: 2,
@@ -53,24 +56,80 @@ viccan_msg_len_dict = {
         54: 4,
         56: 4,  # really 3, but viccan
         58: 4,  # ditto
-}
+    }
+    rover_platform: Literal["clucky", "testbed"]
 
-
-class SerialRelay(Node):
     def __init__(self):
-        # Initalize node with name
         super().__init__("core_node")
 
-        # Launch mode -- anchor vs core
-        self.declare_parameter("launch_mode", "core")
-        self.launch_mode = self.get_parameter("launch_mode").value
-        self.get_logger().info(f"Core launch_mode is: {self.launch_mode}")
+        self.get_logger().info(f"core launch_mode is: anchor")
 
         ##################################################
-        # Topics
+        # Parameters
+
+        self.declare_parameter("use_ros2_control", False)
+        self.use_ros2_control = (
+            self.get_parameter("use_ros2_control").get_parameter_value().bool_value
+        )
+
+        self.declare_parameter("rover_platform_override", "")
+        rover_platform = (
+            self.get_parameter("rover_platform_override")
+            .get_parameter_value()
+            .string_value
+        )
+        # Verify rover_platform_override value is valid
+        if rover_platform not in ("clucky", "testbed", ""):
+            # Keeping this here, because I want a value error only if the user manually
+            # overrides using a bad value. If we can't determine it automatically
+            # from hostname, then default to clucky.
+            self.get_logger().fatal(
+                "Invalid rover_platform_override parameter value. If set, must be 'clucky' or 'testbed'."
+            )
+        # Attempt to determine platform from hostname, default to clucky on failure
+        rover_platform = rover_platform or gethostname().lower()
+        if rover_platform not in ("clucky", "testbed"):
+            self.get_logger().info(
+                "rover_platform defaulting to clucky, not overridden and could not determine from hostname."
+            )
+            rover_platform = "clucky"
+        self.rover_platform = cast(Literal["clucky", "testbed"], rover_platform)
+
+        if self.rover_platform == "testbed":
+            global TESTBED_WHEELBASE, TESTBED_WHEEL_RADIUS, TESTBED_GEAR_RATIO
+            self.wheelbase = TESTBED_WHEELBASE
+            self.wheel_radius = TESTBED_WHEEL_RADIUS
+            self.gear_ratio = TESTBED_GEAR_RATIO
+        else:  # default in case of unset or invalid environment variable
+            global CORE_WHEELBASE, CORE_WHEEL_RADIUS, CORE_GEAR_RATIO
+            self.wheelbase = CORE_WHEELBASE
+            self.wheel_radius = CORE_WHEEL_RADIUS
+            self.gear_ratio = CORE_GEAR_RATIO
+
+        ##################################################
+        # Old Topics
+
+        self.anchor_sub = self.create_subscription(
+            String, "/anchor/core/feedback", self.anchor_feedback, 10
+        )
+        self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
+
+        if not self.use_ros2_control:
+            # /core/control
+            self.control_sub = self.create_subscription(
+                CoreControl, "/core/control", self.send_controls, 10
+            )  # old control method -- left_stick, right_stick, max_speed, brake, and some other random autonomy stuff
+        # /core/feedback
+        self.feedback_pub = self.create_publisher(CoreFeedback, "/core/feedback", 10)
+        self.core_feedback = CoreFeedback()
+
+        self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback)
+
+        ##################################################
+        # New Topics
 
         # Anchor
-        if self.launch_mode == "anchor":
+
         self.anchor_fromvic_sub_ = self.create_subscription(
             VicCAN, "/anchor/from_vic/core", self.relay_fromvic, 20
         )
@@ -78,18 +137,16 @@ class SerialRelay(Node):
             VicCAN, "/anchor/to_vic/relay", 20
         )
 
-            self.anchor_sub = self.create_subscription(
-                String, "/anchor/core/feedback", self.anchor_feedback, 10
-            )
-            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
-
         # Control
 
-        # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
-        self.cmd_vel_sub_ = self.create_subscription(
-            TwistStamped, "/cmd_vel", self.cmd_vel_callback, 1
+        if self.use_ros2_control:
+            # Joint state control for topic-based controller
+            self.joint_command_sub_ = self.create_subscription(
+                JointState, "/core/joint_commands", self.joint_command_callback, 2
             )
+        else:
             # manual twist -- [-1, 1] rather than real units
+            # TODO: change topic to '/core/control/twist'
             self.twist_man_sub_ = self.create_subscription(
                 Twist, "/core/twist", self.twist_man_callback, qos_profile=control_qos
             )
@@ -100,148 +157,74 @@ class SerialRelay(Node):
                 self.control_state_callback,
                 qos_profile=control_qos,
             )
-        self.twist_max_duty = (
-            0.5  # max duty cycle for twist commands (0.0 - 1.0); walking speed is 0.5
-        )
+            self.twist_max_duty = 0.5  # max duty cycle for twist commands (0.0 - 1.0); walking speed is 0.5
 
         # Feedback
 
-        # Consolidated and organized core feedback
+        # Consolidated and organized main core feedback
+        # TODO: change topic to something like '/core/feedback/main'
         self.feedback_new_pub_ = self.create_publisher(
             NewCoreFeedback,
             "/core/feedback_new",
             qos_profile=qos.qos_profile_sensor_data,
         )
+
+        # Joint states for topic-based controller
+        self.joint_state_pub_ = self.create_publisher(
+            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        # IMU (embedded BNO-055)
+        self.imu_pub_ = self.create_publisher(
+            Imu, "/core/imu", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        # GPS (embedded u-blox M9N)
+        self.gps_pub_ = self.create_publisher(
+            NavSatFix, "/gps/fix", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        # Barometer (embedded BMP-388)
+        self.baro_pub_ = self.create_publisher(
+            Barometer, "/core/feedback/baro", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        ###################################################
+        # Timers
+
+        if self.use_ros2_control:
+            self.vel_cmd_timer_ = self.create_timer(0.1, self.vel_cmd_timer_callback)
+
+        ###################################################
+        # Saved state
+
+        # Controls
+        self._last_joint_command_time = self.get_clock().now()
+        self._last_joint_command_msg = JointState()
+
+        # Main Core feedback
         self.feedback_new_state = NewCoreFeedback()
         self.feedback_new_state.fl_motor.id = 1
         self.feedback_new_state.bl_motor.id = 2
         self.feedback_new_state.fr_motor.id = 3
         self.feedback_new_state.br_motor.id = 4
-        self.telemetry_pub_timer = self.create_timer(
-            1.0, self.publish_feedback
-        )  # TODO: not sure about this
-        # Joint states for topic-based controller
-        self.joint_state_pub_ = self.create_publisher(
-            JointState, "/core/joint_states", qos_profile=qos.qos_profile_sensor_data
-        )
-        # IMU (embedded BNO-055)
-        self.imu_pub_ = self.create_publisher(
-            Imu, "/core/imu", qos_profile=qos.qos_profile_sensor_data
-        )
+
+        # IMU
         self.imu_state = Imu()
         self.imu_state.header.frame_id = "core_bno055"
-        # GPS (embedded u-blox M9N)
-        self.gps_pub_ = self.create_publisher(
-            NavSatFix, "/gps/fix", qos_profile=qos.qos_profile_sensor_data
-        )
+
+        # GPS
         self.gps_state = NavSatFix()
         self.gps_state.header.frame_id = "core_gps_antenna"
         self.gps_state.status.service = NavSatStatus.SERVICE_GPS
         self.gps_state.status.status = NavSatStatus.STATUS_NO_FIX
         self.gps_state.position_covariance_type = NavSatFix.COVARIANCE_TYPE_UNKNOWN
-        # Barometer (embedded BMP-388)
-        self.baro_pub_ = self.create_publisher(
-            Barometer, "/core/baro", qos_profile=qos.qos_profile_sensor_data
-        )
+
+        # Barometer
         self.baro_state = Barometer()
         self.baro_state.header.frame_id = "core_bmp388"
 
-        # Old
-
-        # /core/control
-        self.control_sub = self.create_subscription(
-            CoreControl, "/core/control", self.send_controls, 10
-        )  # old control method -- left_stick, right_stick, max_speed, brake, and some other random autonomy stuff
-        # /core/feedback
-        self.feedback_pub = self.create_publisher(CoreFeedback, "/core/feedback", 10)
-        self.core_feedback = CoreFeedback()
-        # Debug
-        self.debug_pub = self.create_publisher(String, "/core/debug", 10)
-        self.ping_service = self.create_service(
-            Empty, "/astra/core/ping", self.ping_callback
-        )
-
-        ##################################################
-        # Find microcontroller (Non-anchor only)
-
-        # Core (non-anchor) specific
-        if self.launch_mode == "core":
-            # Loop through all serial devices on the computer to check for the MCU
-            self.port = None
-            ports = SerialRelay.list_serial_ports()
-            for i in range(2):
-                for port in ports:
-                    try:
-                        # connect and send a ping command
-                        ser = serial.Serial(port, 115200, timeout=1)
-                        # (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}!")
-                            self.get_logger().info(f"Enabling Relay Mode")
-                            ser.write(b"can_relay_mode,on\n")
-                            break
-                    except:
-                        pass
-                if self.port is not None:
-                    break
-
-            if self.port is None:
-                self.get_logger().info("Unable to find MCU...")
-                time.sleep(1)
-                sys.exit(1)
-
-            self.ser = serial.Serial(self.port, 115200)
-            atexit.register(self.cleanup)
-        # end __init__()
-
-    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():
-                if self.launch_mode == "core":
-                    self.read_MCU()  # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def read_MCU(self):  # NON-ANCHOR SPECIFIC
-        try:
-            output = str(self.ser.readline(), "utf8")
-
-            if output:
-                # All output over debug temporarily
-                print(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                return
-        except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            sys.exit(1)
-        except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            sys.exit(1)
-        except Exception as e:
-            print(f"Exception: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            sys.exit(1)
-
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def scale_duty(self, value: float, max_speed: float):
         leftMin = -1
         leftMax = 1
@@ -258,6 +241,7 @@ class SerialRelay(Node):
         # Convert the 0-1 range into a value in the right range.
         return str(rightMin + (valueScaled * rightSpan))
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_controls(self, msg: CoreControl):
         if msg.turn_to_enable:
             command = (
@@ -283,17 +267,57 @@ class SerialRelay(Node):
 
         # print(f"[Sys] Relaying: {command}")
 
-    def cmd_vel_callback(self, msg: TwistStamped):
-        linear = msg.twist.linear.x
-        angular = -msg.twist.angular.z
+    def joint_command_callback(self, msg: JointState):
+        # So... topic based control node publishes JointState messages over /joint_commands
+        #  with len(msg.name) == 5 and len(msg.velocity) == 4... all 5 non-fixed joints
+        #  are included in msg.name, but ig it is implied that msg.velocity only
+        #  includes velocities for the commanded joints (ros__parameters.joints).
+        # So, this will be much more hacky and less adaptable than I would like it to be.
+        if (
+            len(msg.name) != (4 if self.rover_platform == "testbed" else 5)
+            or len(msg.velocity) != 4
+            or len(msg.position) != 0
+        ):
+            self.get_logger().warning(
+                f"Received joint control message with unexpected number of joints. Ignoring."
+            )
+            return
+        if msg.name[-4:] != [  # type: ignore
+            "bl_wheel_joint",
+            "br_wheel_joint",
+            "fl_wheel_joint",
+            "fr_wheel_joint",
+        ]:
+            self.get_logger().warning(
+                f"Received joint control message with unexpected name[]. Ignoring."
+            )
+            return
 
-        vel_left_rads = (linear - (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
-        vel_right_rads = (linear + (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
+        # A 10 Hz timer callback actually sends these commands to Core for rate limiting
+        # These come from ros2_control at 50 Hz
+        self._last_joint_command_time = self.get_clock().now()
+        self._last_joint_command_msg = msg
 
-        vel_left_rpm = round((vel_left_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
-        vel_right_rpm = round((vel_right_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
+    def vel_cmd_timer_callback(self):
+        # Safety timeout for diff_drive_controller commands via topic_based_ros2_control.
+        # It is safe to send stop command here because if self.use_ros2_control,
+        # then this is the only callback that is controlling Core's motors.
+        if self.get_clock().now() - self._last_joint_command_time > Duration(
+            nanoseconds=int(1e8)  # 100ms
+        ):
+            self.send_viccan(20, [0.0, 0.0, 0.0, 0.0])
+            return
 
-        self.send_viccan(20, [vel_left_rpm, vel_right_rpm])
+        # This order is verified by the subscription callback
+        (bl_vel, br_vel, fl_vel, fr_vel) = self._last_joint_command_msg.velocity
+
+        # Convert wheel rad/s to motor RPM
+        bl_rpm = radps_to_rpm(bl_vel) * self.gear_ratio
+        br_rpm = radps_to_rpm(br_vel) * self.gear_ratio
+        fl_rpm = radps_to_rpm(fl_vel) * self.gear_ratio
+        fr_rpm = radps_to_rpm(fr_vel) * self.gear_ratio
+
+        self.send_viccan(20, [fl_rpm, bl_rpm, fr_rpm, br_rpm])  # REV Velocity
 
     def twist_man_callback(self, msg: Twist):
         linear = msg.linear.x  # [-1 1] for forward/back from left stick y
@@ -334,15 +358,9 @@ class SerialRelay(Node):
         # Max duty cycle
         self.twist_max_duty = msg.max_duty  # twist_man_callback will handle this
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_cmd(self, msg: str):
-        if self.launch_mode == "anchor":
-            # self.get_logger().info(f"[Core to Anchor Relay] {msg}")
-            output = String()  # Convert to std_msg string
-            output.data = msg
-            self.anchor_pub.publish(output)
-        elif self.launch_mode == "core":
-            self.get_logger().info(f"[Core to MCU] {msg}")
-            self.ser.write(bytes(msg, "utf8"))
+        self.anchor_pub.publish(String(data=msg))  # Publish to anchor for relay
 
     def send_viccan(self, cmd_id: int, data: list[float]):
         self.anchor_tovic_pub_.publish(
@@ -354,6 +372,7 @@ class SerialRelay(Node):
             )
         )
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def anchor_feedback(self, msg: String):
         output = msg.data
         parts = str(output.strip()).split(",")
@@ -423,14 +442,16 @@ class SerialRelay(Node):
         # skill diff if not
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_msg_len_dict:
-            expected_len = viccan_msg_len_dict[msg.command_id]
+        if msg.command_id in self.viccan_msg_len_dict:
+            expected_len = self.viccan_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
 
+        self.feedback_new_state.header.stamp = msg.header.stamp
+
         match msg.command_id:
             # GNSS
             case 48:  # GNSS Latitude
@@ -457,6 +478,7 @@ class SerialRelay(Node):
                 self.imu_state.linear_acceleration.x = float(msg.data[0])
                 self.imu_state.linear_acceleration.y = float(msg.data[1])
                 self.imu_state.linear_acceleration.z = float(msg.data[2])
+                self.feedback_new_state.orientation = float(msg.data[3])
                 # Deal with quaternion
                 r = Rotation.from_euler("z", float(msg.data[3]), degrees=True)
                 q = r.as_quat()
@@ -501,6 +523,7 @@ class SerialRelay(Node):
                 self.feedback_new_state.board_voltage.v12 = float(msg.data[1]) / 100.0
                 self.feedback_new_state.board_voltage.v5 = float(msg.data[2]) / 100.0
                 self.feedback_new_state.board_voltage.v3 = float(msg.data[3]) / 100.0
+                self.feedback_new_state.board_voltage.header.stamp = msg.header.stamp
             # Baro
             case 56:  # BMP temperature, altitude, pressure
                 self.baro_state.temperature = float(msg.data[0])
@@ -513,14 +536,12 @@ class SerialRelay(Node):
                 motorId = round(float(msg.data[0]))
                 position = float(msg.data[1])
                 velocity = float(msg.data[2])
-                joint_state_msg = (
-                    JointState()
-                )  # TODO: not sure if all motors should be in each message or not
+                joint_state_msg = JointState()
                 joint_state_msg.position = [
-                    position * (2 * pi) / CORE_GEAR_RATIO
+                    position * (2 * pi) / self.gear_ratio
                 ]  # revolutions to radians
                 joint_state_msg.velocity = [
-                    velocity * (2 * pi / 60.0) / CORE_GEAR_RATIO
+                    velocity * (2 * pi / 60.0) / self.gear_ratio
                 ]  # RPM to rad/s
 
                 motor: RevMotorState | None = None
@@ -528,52 +549,42 @@ class SerialRelay(Node):
                 match motorId:
                     case 1:
                         motor = self.feedback_new_state.fl_motor
-                        joint_state_msg.name = ["fl_motor_joint"]
+                        joint_state_msg.name = ["fl_wheel_joint"]
                     case 2:
                         motor = self.feedback_new_state.bl_motor
-                        joint_state_msg.name = ["bl_motor_joint"]
+                        joint_state_msg.name = ["bl_wheel_joint"]
                     case 3:
                         motor = self.feedback_new_state.fr_motor
-                        joint_state_msg.name = ["fr_motor_joint"]
+                        joint_state_msg.name = ["fr_wheel_joint"]
                     case 4:
                         motor = self.feedback_new_state.br_motor
-                        joint_state_msg.name = ["br_motor_joint"]
+                        joint_state_msg.name = ["br_wheel_joint"]
                     case _:
                         self.get_logger().warning(
                             f"Ignoring REV motor feedback 58 with invalid motorId {motorId}"
                         )
                         return
 
+                if motor:
+                    motor.position = position
+                    motor.velocity = velocity
+
+                # make the fucking shit work
+                if self.rover_platform == "clucky":
+                    joint_state_msg.name.append("left_suspension_joint")
+                    joint_state_msg.position.append(0.0)
+                    joint_state_msg.velocity.append(0.0)
+
                 joint_state_msg.header.stamp = msg.header.stamp
                 self.joint_state_pub_.publish(joint_state_msg)
             case _:
                 return
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def publish_feedback(self):
         # self.get_logger().info(f"[Core] {self.core_feedback}")
         self.feedback_pub.publish(self.core_feedback)
 
-    def ping_callback(self, request, response):
-        return response
-
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-
-    def cleanup(self):
-        print("Cleaning up before terminating...")
-        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 map_range(
     value: float, in_min: float, in_max: float, out_min: float, out_max: float
@@ -581,19 +592,31 @@ def map_range(
     return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 
 
+def radps_to_rpm(radps: float):
+    return radps * 60 / (2 * pi)
+
+
+def exit_handler(signum, frame):
+    print("Caught SIGTERM. Exiting...")
+    rclpy.try_shutdown()
+    sys.exit(0)
+
+
 def main(args=None):
     rclpy.init(args=args)
-    sys.excepthook = myexcepthook
 
-    global serial_pub
+    # Catch termination signals and exit cleanly
+    signal.signal(signal.SIGTERM, exit_handler)
 
-    serial_pub = SerialRelay()
-    serial_pub.run()
+    core_node = CoreNode()
+
+    try:
+        rclpy.spin(core_node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    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
     main()

src/core_pkg/core_pkg/core_ptz.py

@@ -262,7 +262,7 @@ class PtzNode(Node):
             f"[{self.get_clock().now().nanoseconds / 1e9:.2f}] PTZ Node: {message_text}"
         )
         self.debug_pub.publish(msg)
-        self.get_logger().info(message_text)
+        self.get_logger().debug(message_text)
 
     def run_async_func(self, coro):
         """Run an async function in the event loop."""

src/core_pkg/package.xml

@@ -3,15 +3,17 @@
 <package format="3">
   <name>core_pkg</name>
   <version>1.0.0</version>
-  <description>Core rover control package to handle command interpretation and embedded interfacing.</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <description>Relays topics related to Core between VicCAN (through Anchor) and basestation.</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
-  <depend>common_interfaces</depend>
-  <depend>python3-scipy</depend>
-  <depend>python-crccheck-pip</depend>
-  <depend>astra_msgs</depend>
+
+  <exec_depend>common_interfaces</exec_depend>
+  <exec_depend>python3-scipy</exec_depend>
+  <exec_depend>python-crccheck-pip</exec_depend>
+
+  <exec_depend>astra_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/core_pkg/setup.cfg

@@ -2,3 +2,5 @@
 script_dir=$base/lib/core_pkg
 [install]
 install_scripts=$base/lib/core_pkg
+[build_scripts]
+executable= /usr/bin/env python3

src/core_pkg/setup.py

@@ -4,7 +4,7 @@ package_name = "core_pkg"
 
 setup(
     name=package_name,
-    version="0.0.0",
+    version="1.0.0",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
@@ -12,14 +12,13 @@ setup(
     ],
     install_requires=["setuptools"],
     zip_safe=True,
-    maintainer="tristan",
-    maintainer_email="tristanmcginnis26@gmail.com",
-    description="Core rover control package to handle command interpretation and embedded interfacing.",
-    license="All Rights Reserved",
+    maintainer="David Sharpe",
+    maintainer_email="ds0196@uah.edu",
+    description="Relays topics related to Core between VicCAN (through Anchor) and basestation.",
+    license="AGPL-3.0-only",
     entry_points={
         "console_scripts": [
             "core = core_pkg.core_node:main",
-            "headless = core_pkg.core_headless:main",
             "ptz = core_pkg.core_ptz:main",
         ],
     },

src/headless_pkg/package.xml

@@ -3,14 +3,15 @@
 <package format="3">
   <name>headless_pkg</name>
   <version>1.0.0</version>
-  <description>Headless rover control package to handle command interpretation and embedded interfacing.</description>
+  <description>Provides headless rover control, similar to Basestation.</description>
   <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
-  <depend>common_interfaces</depend>
-  <depend>python3-pygame</depend>
-  <depend>astra_msgs</depend>
+
+  <exec_depend>common_interfaces</exec_depend>
+  <exec_depend>python3-pygame</exec_depend>
+  <exec_depend>astra_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/headless_pkg/setup.cfg

@@ -2,3 +2,5 @@
 script_dir=$base/lib/headless_pkg
 [install]
 install_scripts=$base/lib/headless_pkg
+[build_scripts]
+executable= /usr/bin/env python3

src/headless_pkg/setup.py

@@ -14,11 +14,9 @@ setup(
     zip_safe=True,
     maintainer="David Sharpe",
     maintainer_email="ds0196@uah.edu",
-    description="Headless rover control package to handle command interpretation and embedded interfacing.",
-    license="All Rights Reserved",
+    description="Provides headless rover control, similar to Basestation.",
+    license="AGPL-3.0-only",
     entry_points={
-        "console_scripts": [
-            "headless_full = src.headless_node:main",
-        ],
+        "console_scripts": ["headless_full = src.headless_node:main"],
     },
 )

src/headless_pkg/src/headless_node.py

@@ -6,22 +6,27 @@ from rclpy.duration import Duration
 
 import signal
 import time
-import atexit
 
 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 std_msgs.msg import Header
 from geometry_msgs.msg import Twist, TwistStamped
 from control_msgs.msg import JointJog
 from astra_msgs.msg import CoreControl, ArmManual, BioControl
-from astra_msgs.msg import CoreCtrlState
+from astra_msgs.msg import CoreCtrlState, ArmCtrlState
+
+import warnings
+
+# Literally headless
+warnings.filterwarnings(
+    "ignore",
+    message="Your system is avx2 capable but pygame was not built with support for it.",
+)
 
 import pygame
 
@@ -36,35 +41,44 @@ CORE_STOP_TWIST_MSG = Twist()  # "
 ARM_STOP_MSG = ArmManual()  # "
 BIO_STOP_MSG = BioControl()  # "
 
+
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
     durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
-arm_ik_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
-    depth=1,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
-)
-
-CORE_MODE = "twist"  # "twist" or "duty"
 
 STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05"))
+ARM_DEADZONE = float(os.getenv("ARM_DEADZONE", "0.2"))
 
 
 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")
+        super().__init__("headless_node")
+
+        ##################################################
+        # Preamble
 
         # Wait for anchor to start
         pub_info = self.get_publishers_info_by_topic("/anchor/from_vic/debug")
@@ -116,44 +130,107 @@ class Headless(Node):
                 break
             id += 1
 
-        self.create_timer(0.1, self.send_controls)
+        ##################################################
+        # Parameters
 
-        self.core_publisher = self.create_publisher(CoreControl, "/core/control", 2)
-        self.arm_publisher = self.create_publisher(ArmManual, "/arm/control/manual", 2)
-        self.arm_ik_twist_publisher = self.create_publisher(
-            TwistStamped, "/servo_node/delta_twist_cmds", arm_ik_qos
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = (
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
         )
-        self.arm_ik_jointjog_publisher = self.create_publisher(
-            JointJog, "/servo_node/delta_joint_cmds", arm_ik_qos
+
+        self.declare_parameter("use_cmd_vel", False)
+        self.use_cmd_vel = (
+            self.get_parameter("use_cmd_vel").get_parameter_value().bool_value
+        )
+
+        self.declare_parameter("use_bio", False)
+        self.use_bio = self.get_parameter("use_bio").get_parameter_value().bool_value
+
+        self.declare_parameter("use_arm_ik", False)
+        self.use_arm_ik = (
+            self.get_parameter("use_arm_ik").get_parameter_value().bool_value
+        )
+        # NOTE: only applicable if use_old_topics == True
+        self.declare_parameter("use_new_arm_manual_scheme", True)
+        self.use_new_arm_manual_scheme = (
+            self.get_parameter("use_new_arm_manual_scheme")
+            .get_parameter_value()
+            .bool_value
+        )
+
+        # Check parameter validity
+        if self.use_cmd_vel:
+            self.get_logger().info("Using cmd_vel for core control")
+            global CORE_MODE
+            CORE_MODE = "twist"
+        else:
+            self.get_logger().info("Using astra_msgs/CoreControl for core control")
+
+        if self.use_arm_ik and self.use_old_topics:
+            self.get_logger().fatal("Old topics do not support arm IK control.")
+            sys.exit(1)
+        if not self.use_new_arm_manual_scheme and not self.use_old_topics:
+            self.get_logger().warn(
+                f"New arm manual does not support old control scheme. Defaulting to new scheme."
+            )
+
+        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)
+        self.arm_brake_mode = False
+        self.arm_laser = False
+
+        ##################################################
+        # Old Topics
+
+        if self.use_old_topics:
+            self.core_publisher = self.create_publisher(CoreControl, "/core/control", 2)
+            self.arm_publisher = self.create_publisher(
+                ArmManual, "/arm/control/manual", 2
             )
             self.bio_publisher = self.create_publisher(BioControl, "/bio/control", 2)
 
+        ##################################################
+        # New Topics
+
+        if not self.use_old_topics:
             self.core_twist_pub_ = self.create_publisher(
                 Twist, "/core/twist", qos_profile=control_qos
             )
+            self.core_cmd_vel_pub_ = self.create_publisher(
+                TwistStamped, "/diff_controller/cmd_vel", qos_profile=control_qos
+            )
             self.core_state_pub_ = self.create_publisher(
                 CoreCtrlState, "/core/control/state", qos_profile=control_qos
             )
 
-        self.declare_parameter("arm_mode", "manual")
-        self.arm_mode = self.get_parameter("arm_mode").value
-
-        self.declare_parameter("arm_manual_scheme", "old")
-        self.arm_manual_scheme = self.get_parameter("arm_manual_scheme").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)."
+            self.arm_manual_pub_ = self.create_publisher(
+                JointJog, "/arm/control/joint_jog", qos_profile=control_qos
             )
-        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.arm_state_pub_ = self.create_publisher(
+                ArmCtrlState, "/arm/control/state", qos_profile=control_qos
             )
 
+            self.arm_ik_twist_publisher = self.create_publisher(
+                TwistStamped, "/servo_node/delta_twist_cmds", qos_profile=control_qos
+            )
+            self.arm_ik_jointjog_publisher = self.create_publisher(
+                JointJog, "/servo_node/delta_joint_cmds", qos_profile=control_qos
+            )
+
+            # TODO: add new bio topics
+
+        ##################################################
+        # 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":
+        if self.use_arm_ik:
             self.get_logger().info("Starting servo node for IK control...")
             self.servo_start_client = self.create_client(
                 Trigger, "/servo_node/start_servo"
@@ -170,13 +247,28 @@ class Headless(Node):
             if self.servo_start_client.service_is_ready():
                 self.servo_start_client.call_async(Trigger.Request())
 
-        self.ctrl_mode = "core"  # Start in core mode
-        self.core_brake_mode = False
-        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
-
         # Rumble when node is ready (returns False if rumble not supported)
         self.gamepad.rumble(0.7, 0.8, 150)
 
+        # Added so you can tell when it starts running after changing the constant logging to debug from info
+        self.get_logger().info("Defaulting to Core mode. Ready.")
+
+    def stop_all(self):
+        if self.use_old_topics:
+            self.core_publisher.publish(CORE_STOP_MSG)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            self.bio_publisher.publish(BIO_STOP_MSG)
+        else:
+            if self.use_cmd_vel:
+                self.core_cmd_vel_pub_.publish(self.core_cmd_vel_stop_msg())
+            else:
+                self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
+            if self.use_arm_ik:
+                self.arm_ik_twist_publisher.publish(self.arm_ik_twist_stop_msg())
+            else:
+                self.arm_manual_pub_.publish(self.arm_manual_stop_msg())
+            # TODO: add bio here after implementing new topics
+
     def send_controls(self):
         """Read the gamepad state and publish control messages"""
         for event in pygame.event.get():
@@ -187,10 +279,8 @@ class Headless(Node):
         # Check if controller is still connected
         if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
-            # Send one last zero control message
-            self.core_publisher.publish(CORE_STOP_MSG)
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            self.bio_publisher.publish(BIO_STOP_MSG)
+            # Stop the rover if controller disconnected
+            self.stop_all()
             self.get_logger().info("Final stop commands sent. Shutting down.")
             # Clean up
             pygame.quit()
@@ -206,23 +296,51 @@ class Headless(Node):
             new_ctrl_mode = "core"
 
         if new_ctrl_mode != self.ctrl_mode:
-            self.core_publisher.publish(CORE_STOP_MSG)
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            self.bio_publisher.publish(BIO_STOP_MSG)
+            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")
+            if self.ctrl_mode == "arm" and self.use_bio:
+                self.get_logger().warning("NOTE: Using bio instead of arm.")
 
-        # CORE
-        if self.ctrl_mode == "core" and CORE_MODE == "duty":
+        # Actually send the controls
+        if self.ctrl_mode == "core":
+            self.send_core()
+            if self.use_old_topics:
+                if self.use_bio:
+                    self.bio_publisher.publish(BIO_STOP_MSG)
+                else:
+                    self.arm_publisher.publish(ARM_STOP_MSG)
+            # New topics shouldn't need to constantly send zeroes imo
+        else:
+            if self.use_bio:
+                self.send_bio()
+            else:
+                self.send_arm()
+            if self.use_old_topics:
+                self.core_publisher.publish(CORE_STOP_MSG)
+            # Ditto
+
+    def send_core(self):
+        # Collect controller state
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
+        right_trigger = stick_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))
 
@@ -238,26 +356,33 @@ class Headless(Node):
 
             self.core_publisher.publish(input)
 
-        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)
+        else:  # New topics
+            twist = Twist()
 
             # Forward/back and Turn
-            input.linear.x = -1.0 * left_stick_y
-            input.angular.z = -1.0 * copysign(
+            twist.linear.x = -1.0 * left_stick_y
+            twist.angular.z = -1.0 * copysign(
                 right_stick_x**2, right_stick_x
             )  # Exponent for finer control (curve)
 
+            # This kinda looks dumb being seperate from the following block, but this
+            # maintains the separation between modifying the control message and sending it.
+            if self.use_cmd_vel:
+                # These scaling factors convert raw stick inputs to absolute m/s and rad/s
+                # values that DiffDriveController will convert to motor RPM, rather than
+                # the plain Twist, which just sends the stick values as duty cycle and
+                # sends that scaled to the motors.
+                twist.linear.x *= 1.0
+                twist.angular.z *= 1.5
+
             # Publish
-            self.core_twist_pub_.publish(input)
-            self.get_logger().info(
-                f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}"
+            if self.use_cmd_vel:
+                header = Header(stamp=self.get_clock().now().to_msg())
+                self.core_cmd_vel_pub_.publish(TwistStamped(header=header, twist=twist))
+            else:
+                self.core_twist_pub_.publish(twist)
+            self.get_logger().debug(
+                f"[Core Ctrl] Linear: {round(twist.linear.x, 2)}, Angular: {round(twist.angular.z, 2)}"
             )
 
             # Brake mode
@@ -280,22 +405,20 @@ class Headless(Node):
                 state_msg = CoreCtrlState()
                 state_msg.brake_mode = bool(self.core_brake_mode)
                 state_msg.max_duty = float(self.core_max_duty)
+
                 self.core_state_pub_.publish(state_msg)
                 self.get_logger().info(
                     f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}"
                 )
 
-        # ARM and BIO
-        if self.ctrl_mode == "arm" and self.arm_mode == "manual":
-            arm_input = ArmManual()
-
+    def send_arm(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))
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
+        right_trigger = stick_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)
@@ -304,7 +427,14 @@ class Headless(Node):
         right_bumper = self.gamepad.get_button(5)
         dpad_input = self.gamepad.get_hat(0)
 
-            if self.arm_manual_scheme == "old":
+        # OLD MANUAL
+        # ==========
+
+        if not self.use_arm_ik and self.use_old_topics:
+            arm_input = ArmManual()
+
+            # OLD ARM MANUAL CONTROL SCHEME
+            if not self.use_new_arm_manual_scheme:
                 # EF Grippers
                 if left_trigger > 0 and right_trigger > 0:
                     arm_input.gripper = 0
@@ -347,7 +477,8 @@ class Headless(Node):
                     if abs(right_stick_y) > 0.15:
                         arm_input.axis3 = -1 * round(right_stick_y)
 
-            if self.arm_manual_scheme == "new":
+            # NEW ARM MANUAL CONTROL SCHEME
+            if self.use_new_arm_manual_scheme:
                 # Right stick: EF yaw and axis 3
                 # Left stick: axis 1 and 2
                 # D-pad: axis 0 and _
@@ -358,28 +489,16 @@ class Headless(Node):
                 # 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))
-                )
+                arm_input.effector_yaw = stick_to_arm_direction(right_stick_x)
+                arm_input.axis3 = -1 * stick_to_arm_direction(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))
-                )
+                arm_input.axis1 = stick_to_arm_direction(left_stick_x)
+                arm_input.axis2 = -1 * stick_to_arm_direction(left_stick_y)
 
                 # D-pad: axis 0 and _
-                arm_input.axis0 = (
-                    0 if dpad_input[0] == 0 else int(copysign(1, dpad_input[0]))
-                )
+                arm_input.axis0 = int(dpad_input[0])
 
                 # Triggers: EF Grippers
                 if left_trigger > 0 and right_trigger > 0:
@@ -409,22 +528,93 @@ class Headless(Node):
                 else:
                     arm_input.linear_actuator = 0
 
-
-            # BIO
-            bio_input = BioControl(
-                bio_arm=int(left_stick_y * -100),
-                drill_arm=int(round(right_stick_y) * -100),
-            )
-
-            # Drill motor (FAERIE)
-            if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
-                bio_input.drill = int(
-                    30 * (right_trigger - left_trigger)
-                )  # Max duty cycle 30%
-
             self.arm_publisher.publish(arm_input)
 
-        if self.ctrl_mode == "arm" and self.arm_mode == "ik":
+        # NEW MANUAL
+        # ==========
+
+        elif not self.use_arm_ik 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
+
+            # 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(
+                stick_to_arm_direction(right_stick_y)
+            )
+
+            # Left stick: axis 1 and 2
+            arm_input.velocities[self.all_joint_names.index("axis_1_joint")] = float(
+                stick_to_arm_direction(left_stick_x)
+            )
+            arm_input.velocities[self.all_joint_names.index("axis_2_joint")] = float(
+                stick_to_arm_direction(left_stick_y)
+            )
+
+            # D-pad: axis 0 and _
+            arm_input.velocities[self.all_joint_names.index("axis_0_joint")] = float(
+                dpad_input[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
+            new_brake_mode = button_a
+
+            # X: laser
+            new_laser = button_x
+
+            self.arm_manual_pub_.publish(arm_input)
+
+            # Only publish state if needed
+            if new_brake_mode != self.arm_brake_mode or new_laser != self.arm_laser:
+                self.arm_brake_mode = new_brake_mode
+                self.arm_laser = new_laser
+                state_msg = ArmCtrlState()
+                state_msg.brake_mode = bool(self.arm_brake_mode)
+                state_msg.laser = bool(self.arm_laser)
+
+                self.arm_state_pub_.publish(state_msg)
+                self.get_logger().info(
+                    f"[Arm State] Brake: {self.arm_brake_mode}, Laser: {self.arm_laser}"
+                )
+
+        # IK (ONLY NEW)
+        # =============
+
+        elif self.use_arm_ik:
             arm_twist = TwistStamped()
             arm_twist.header.frame_id = "base_link"
             arm_twist.header.stamp = self.get_clock().now().to_msg()
@@ -432,21 +622,6 @@ class Headless(Node):
             arm_jointjog.header.frame_id = "base_link"
             arm_jointjog.header.stamp = self.get_clock().now().to_msg()
 
-            # Collect controller state
-            left_stick_x = deadzone(self.gamepad.get_axis(0))
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
-            left_trigger = deadzone(self.gamepad.get_axis(2))
-            right_stick_x = deadzone(self.gamepad.get_axis(3))
-            right_stick_y = deadzone(self.gamepad.get_axis(4))
-            right_trigger = deadzone(self.gamepad.get_axis(5))
-            button_a = self.gamepad.get_button(0)
-            button_b = self.gamepad.get_button(1)
-            button_x = self.gamepad.get_button(2)
-            button_y = self.gamepad.get_button(3)
-            left_bumper = self.gamepad.get_button(4)
-            right_bumper = self.gamepad.get_button(5)
-            dpad_input = self.gamepad.get_hat(0)
-
             # Right stick: linear y and linear x
             # Left stick: angular z and linear z
             # D-pad: angular y and _
@@ -473,9 +648,7 @@ class Headless(Node):
 
             # Triggers: EF Grippers
             if left_trigger > 0 or right_trigger > 0:
-                arm_jointjog.joint_names.append(
-                    "Gripper_Slider_Left"  # TODO: Update joint name
-                )
+                arm_jointjog.joint_names.append("ef_gripper_left_joint")  # type: ignore
                 arm_jointjog.velocities.append(float(right_trigger - left_trigger))
 
             # Bumpers: angular x
@@ -489,14 +662,71 @@ class Headless(Node):
             self.arm_ik_twist_publisher.publish(arm_twist)
             # self.arm_ik_jointjog_publisher.publish(arm_jointjog)  # TODO: Figure this shit out
 
+    def send_bio(self):
+        # Collect controller state
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
+        right_trigger = stick_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)
 
-def deadzone(value: float, threshold=STICK_DEADZONE) -> float:
+        if self.use_old_topics:
+            bio_input = BioControl(
+                bio_arm=int(left_stick_y * -100),
+                drill_arm=int(round(right_stick_y) * -100),
+            )
+
+            # Drill motor (FAERIE)
+            if left_trigger > 0 or right_trigger > 0:
+                bio_input.drill = int(
+                    30 * (right_trigger - left_trigger)
+                )  # Max duty cycle 30%
+
+            self.bio_publisher.publish(bio_input)
+
+        else:
+            pass  # TODO: implement new bio control topics
+
+    def core_cmd_vel_stop_msg(self):
+        return TwistStamped(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg())
+        )
+
+    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"""
     if abs(value) < threshold:
         return 0
     return value
 
 
+def stick_to_arm_direction(value: float, threshold=ARM_DEADZONE) -> int:
+    """Apply a larger deadzone to a stick input and make digital/binary instead of analog"""
+    if abs(value) < threshold:
+        return 0
+    return int(copysign(1, value))
+
+
 def is_user_in_group(group_name: str) -> bool:
     # Copied from https://zetcode.com/python/os-getgrouplist/
     try:
@@ -515,10 +745,19 @@ def is_user_in_group(group_name: str) -> bool:
         return False
 
 
+def exit_handler(signum, frame):
+    print("Caught SIGTERM. Exiting...")
+    rclpy.try_shutdown()
+    sys.exit(0)
+
+
 def main(args=None):
     try:
         rclpy.init(args=args)
 
+        # Catch termination signals and exit cleanly
+        signal.signal(signal.SIGTERM, exit_handler)
+
         node = Headless()
         rclpy.spin(node)
     except (KeyboardInterrupt, ExternalShutdownException):
@@ -528,7 +767,4 @@ def main(args=None):
 
 
 if __name__ == "__main__":
-    signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
-    )  # Catch termination signals and exit cleanly
     main()

src/servo_arm_twist_pkg/CMakeLists.txt

@@ -1,80 +0,0 @@
-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

@@ -1,3 +0,0 @@
-# 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

@@ -1,58 +0,0 @@
-<?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

@@ -1,271 +0,0 @@
-/*********************************************************************
- * 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 (0)
-    {
-      // 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)

treefmt.nix

@@ -0,0 +1,8 @@
+{ pkgs, ... }:
+{
+  projectRootFile = "flake.nix";
+  programs = {
+    nixfmt.enable = true;
+    black.enable = true;
+  };
+}