Merge pull request #30 from SHC-ASTRA/update-python

-> python 3.13

flake.nix

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

src/anchor_pkg/launch/rover.launch.py

@@ -1,21 +1,13 @@
 #!/usr/bin/env python3
 
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    OpaqueFunction,
-    Shutdown,
-    IncludeLaunchDescription,
-)
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
 from launch.substitutions import (
     LaunchConfiguration,
     ThisLaunchFileDir,
     PathJoinSubstitution,
 )
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.conditions import IfCondition
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 # Prevent making __pycache__ directories
@@ -48,10 +40,7 @@ def launch_setup(context, *args, **kwargs):
                 executable="core",  # change as needed
                 name="core",
                 output="both",
-                parameters=[
-                    {"launch_mode": mode},
-                    {"use_ros2_control": LaunchConfiguration("use_ros2_control", default=False)},
-                ],
+                parameters=[{"launch_mode": mode}],
                 on_exit=Shutdown(),
             )
         )
@@ -144,46 +133,4 @@ def generate_launch_description():
         description="Launch mode: arm, core, bio, anchor, or ptz",
     )
 
-    ros2_control_arg = DeclareLaunchArgument(
-        "use_ros2_control",
-        default_value="false",
-        description="Whether to use DiffDriveController for driving instead of direct Twist",
-    )
-
-    rsp = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("core_description"),
-                    "launch",
-                    "robot_state_publisher.launch.py",
-                ]
-            )
-        ),
-        condition=IfCondition(LaunchConfiguration("use_ros2_control")),
-        launch_arguments={("hardware_mode", "physical")},
-    )
-
-    controllers = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("core_description"),
-                    "launch",
-                    "spawn_controllers.launch.py",
-                ]
-            )
-        ),
-        condition=IfCondition(LaunchConfiguration("use_ros2_control")),
-        launch_arguments={("hardware_mode", "physical")},
-    )
-
-    return LaunchDescription(
-        [
-            declare_arg,
-            ros2_control_arg,
-            rsp,
-            controllers,
-            OpaqueFunction(function=launch_setup),
-        ]
-    )
+    return LaunchDescription([declare_arg, OpaqueFunction(function=launch_setup)])

src/core_pkg/core_pkg/core_node.py

@@ -66,10 +66,6 @@ class SerialRelay(Node):
         self.launch_mode = self.get_parameter("launch_mode").value
         self.get_logger().info(f"Core launch_mode is: {self.launch_mode}")
 
-        self.declare_parameter("use_ros2_control", False)
-        self.use_ros2_control = self.get_parameter("use_ros2_control").value
-        self.get_logger().info(f"Use ros2_control: {self.use_ros2_control}")
-
         ##################################################
         # Topics
 
@@ -89,28 +85,24 @@ class SerialRelay(Node):
 
         # Control
 
-        if self.use_ros2_control:
-            # Joint state control for topic-based controller
-            self.joint_command_sub_ = self.create_subscription(
-                JointState, "/core/joint_commands", self.joint_command_callback, 2
-            )
-        else:
-            # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
-            self.cmd_vel_sub_ = self.create_subscription(
-                TwistStamped, "/cmd_vel", self.cmd_vel_callback, 1
-            )
-            # manual twist -- [-1, 1] rather than real units
-            self.twist_man_sub_ = self.create_subscription(
-                Twist, "/core/twist", self.twist_man_callback, qos_profile=control_qos
-            )
-            # manual flags -- brake mode and max duty cycle
-            self.control_state_sub_ = self.create_subscription(
-                CoreCtrlState,
-                "/core/control/state",
-                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
+        # 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
+        )
+        # manual twist -- [-1, 1] rather than real units
+        self.twist_man_sub_ = self.create_subscription(
+            Twist, "/core/twist", self.twist_man_callback, qos_profile=control_qos
+        )
+        # manual flags -- brake mode and max duty cycle
+        self.control_state_sub_ = self.create_subscription(
+            CoreCtrlState,
+            "/core/control/state",
+            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
+        )
 
         # Feedback
 
@@ -130,7 +122,7 @@ class SerialRelay(Node):
         )  # TODO: not sure about this
         # Joint states for topic-based controller
         self.joint_state_pub_ = self.create_publisher(
-            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
+            JointState, "/core/joint_states", qos_profile=qos.qos_profile_sensor_data
         )
         # IMU (embedded BNO-055)
         self.imu_pub_ = self.create_publisher(
@@ -156,11 +148,10 @@ class SerialRelay(Node):
 
         # Old
 
-        if not self.use_ros2_control:
-            # /core/control
-            self.control_sub = self.create_subscription(
-                CoreControl, "/core/control", self.send_controls, 10
-            )  # old control method -- left_stick, right_stick, max_speed, brake, and some other random autonomy stuff
+        # /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()
@@ -292,40 +283,6 @@ class SerialRelay(Node):
 
         # print(f"[Sys] Relaying: {command}")
 
-    def joint_command_callback(self, msg: JointState):
-        # So... topic based control node publishes JointState messages over /joint_commands
-        #  with len(msg.name) == 5 and len(msg.velocity) == 4... all 5 non-fixed joints
-        #  are included in msg.name, but ig it is implied that msg.velocity only
-        #  includes velocities for the commanded joints (ros__parameters.joints).
-        # So, this will be much more hacky and less adaptable than I would like it to be.
-        if len(msg.name) != 5 or len(msg.velocity) != 4 or len(msg.position) != 0:
-            self.get_logger().warning(
-                f"Received joint control message with unexpected number of joints. Ignoring."
-            )
-            return
-        if msg.name != [
-            "left_suspension_joint",
-            "bl_wheel_joint",
-            "br_wheel_joint",
-            "fl_wheel_joint",
-            "fr_wheel_joint",
-        ]:
-            self.get_logger().warning(
-                f"Received joint control message with unexpected name[]. Ignoring."
-            )
-            return
-
-        (bl_vel, br_vel, fl_vel, fr_vel) = msg.velocity
-
-        bl_rpm = radps_to_rpm(bl_vel) * CORE_GEAR_RATIO
-        br_rpm = radps_to_rpm(br_vel) * CORE_GEAR_RATIO
-        fl_rpm = radps_to_rpm(fl_vel) * CORE_GEAR_RATIO
-        fr_rpm = radps_to_rpm(fr_vel) * CORE_GEAR_RATIO
-
-        self.send_viccan(
-            20, [fl_rpm, bl_rpm, fr_rpm, br_rpm]
-        )  # order expected by embedded
-
     def cmd_vel_callback(self, msg: TwistStamped):
         linear = msg.twist.linear.x
         angular = -msg.twist.angular.z
@@ -571,27 +528,22 @@ class SerialRelay(Node):
                 match motorId:
                     case 1:
                         motor = self.feedback_new_state.fl_motor
-                        joint_state_msg.name = ["fl_wheel_joint"]
+                        joint_state_msg.name = ["fl_motor_joint"]
                     case 2:
                         motor = self.feedback_new_state.bl_motor
-                        joint_state_msg.name = ["bl_wheel_joint"]
+                        joint_state_msg.name = ["bl_motor_joint"]
                     case 3:
                         motor = self.feedback_new_state.fr_motor
-                        joint_state_msg.name = ["fr_wheel_joint"]
+                        joint_state_msg.name = ["fr_motor_joint"]
                     case 4:
                         motor = self.feedback_new_state.br_motor
-                        joint_state_msg.name = ["br_wheel_joint"]
+                        joint_state_msg.name = ["br_motor_joint"]
                     case _:
                         self.get_logger().warning(
                             f"Ignoring REV motor feedback 58 with invalid motorId {motorId}"
                         )
                         return
 
-                # make the fucking shit work
-                joint_state_msg.name.append("left_suspension_joint")
-                joint_state_msg.position.append(0.0)
-                joint_state_msg.velocity.append(0.0)
-
                 joint_state_msg.header.stamp = msg.header.stamp
                 self.joint_state_pub_.publish(joint_state_msg)
             case _:
@@ -629,10 +581,6 @@ def map_range(
     return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 
 
-def radps_to_rpm(radps: float):
-    return radps * 60 / (2 * pi)
-
-
 def main(args=None):
     rclpy.init(args=args)
     sys.excepthook = myexcepthook