refactor: (headless) change string parameters to bool

Not sure why I haven't already done this...

.dockerignore

@@ -1,4 +0,0 @@
-.git
-*.log
-build/
-install/

.env

@@ -1 +0,0 @@
-DOCKER_IMAGE=main-jazzy-tutorial-source

README.md

@@ -11,12 +11,14 @@ You will use these packages to launch all rover-side ROS2 nodes.
 - [Software Prerequisites](#software-prerequisites)
   - [Nix](#nix)
   - [ROS2 Humble + rosdep](#ros2-humble--rosdep)
-  - [Docker](#docker)
 - [Running](#running)
   - [Testing Serial](#testing-serial)
   - [Connecting the GuliKit Controller](#connecting-the-gulikit-controller)
 - [Common Problems/Toubleshooting](#common-problemstroubleshooting)
 - [Packages](#packages)
+- [Graphs](#graphs)
+  - [Full System](#full-system)
+  - [Individual Nodes](#individual-nodes)
 - [Maintainers](#maintainers)
 
 ## Software Prerequisites
@@ -48,17 +50,6 @@ $ cd path/to/rover-ros2
 $ rosdep install --from-paths src -y --ignore-src
 ```
 
-### Docker
-
-Using the docker compose file automatically builds the workspace and allows you to choose between running on the CPU or GPU for applications like Rviz2 and Gazebo:
-
-```bash
-  # Run on CPU
-$ docker compose run --rm --name rover-ros2-container cpu
-  # Run on GPU (NVidia only)
-$ docker compose run --rm --name rover-ros2-container gpu
-```
-
 ## Running
 
 ```bash
@@ -152,6 +143,40 @@ A: To find a microcontroller to talk to, Anchor sends a ping to every Serial por
 - [ros2\_interfaces\_pkg](./src/ros2_interfaces_pkg) - Contains custom message types for communication between basestation and the rover over ROS2. (being renamed to `astra_msgs`).
 - [servo\_arm\_twist\_pkg](./src/servo_arm_twist_pkg) - A temporary node to translate controller state from `ros2_joy` to `Twist` messages to control the Arm via IK.
 
+## Graphs
+
+### Full System
+
+> **Anchor stand-alone** (`ros2 launch anchor_pkg rover.launch.py`)
+>
+> ![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
+
+> **Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)**
+>
+> ![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
+
+> **Anchor with Headless** (`ros2 run headless_pkg headless_full`)
+>
+> ![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
+
+### Individual Nodes
+
+> **Anchor** (`ros2 run anchor_pkg anchor`)
+>
+> ![rqt_graph of Anchor node running by itself](./docs-resources/graph-anchor-anchor-standalone.png)
+
+> **Core** (`ros2 run core_pkg core --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Core node running by itself](./docs-resources/graph-anchor-core-standalone.png)
+
+> **Arm** (`ros2 run arm_pkg arm --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Arm node running by itself](./docs-resources/graph-anchor-arm-standalone.png)
+
+> **Bio** (`ros2 run bio_pkg bio --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Bio node running by itself](./docs-resources/graph-anchor-bio-standalone.png)
+
 ## Maintainers
 
 | Name | Email | Discord |

docker-compose.yml

@@ -1,38 +0,0 @@
-services:
-  cpu:
-    image: moveit/moveit2:${DOCKER_IMAGE}
-    container_name: moveit2_container
-    privileged: true
-    network_mode: host
-    command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
-    volumes:
-      - ./:/ros2_ws
-      - /tmp/.X11-unix:/tmp/.X11-unix
-      - $XAUTHORITY:/root/.Xauthority
-    working_dir: /ros2_ws
-    environment:
-      QT_X11_NO_MITSHM: 1
-      DISPLAY: $DISPLAY
-  gpu:
-    image: moveit/moveit2:${DOCKER_IMAGE}
-    container_name: moveit2_container
-    privileged: true
-    network_mode: host
-    command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: 1
-              capabilities: [gpu]
-    volumes:
-      - ./:/ros2_ws
-      - /tmp/.X11-unix:/tmp/.X11-unix
-      - $XAUTHORITY:/root/.Xauthority
-    working_dir: /ros2_ws
-    environment:
-      QT_X11_NO_MITSHM: 1
-      DISPLAY: $DISPLAY
-      NVIDIA_VISIBLE_DEVICES: all
-      NVIDIA_DRIVER_CAPABILITIES: all

src/anchor_pkg/launch/rover.launch.py

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

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,182 +1,225 @@
-import rclpy
-from rclpy.node import Node
-import serial
 import sys
 import threading
-import glob
-import time
-import atexit
 import signal
-from std_msgs.msg import String
-from astra_msgs.msg import ArmManual
-from astra_msgs.msg import SocketFeedback
-from astra_msgs.msg import DigitFeedback
-from sensor_msgs.msg import JointState
 import math
 
-# control_qos = qos.QoSProfile(
+import rclpy
-#     history=qos.QoSHistoryPolicy.KEEP_LAST,
+from rclpy.node import Node
-#     depth=1,
+from rclpy.executors import ExternalShutdownException
-#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+from rclpy import qos
-#     durability=qos.QoSDurabilityPolicy.VOLATILE,
+
-#     deadline=1000,
+from std_msgs.msg import String, Header
-#     lifespan=500,
+from sensor_msgs.msg import JointState
-#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+from control_msgs.msg import JointJog
-#     liveliness_lease_duration=5000
+from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual
-# )
+from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
+
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    depth=2,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,  # Best Effort subscribers are still compatible with Reliable publishers
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
+)
 
-serial_pub = None
 thread = None
 
 
-class SerialRelay(Node):
+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 = {
+        54: 4,
+        55: 2,
+        59: 2,
+    }
+
     def __init__(self):
-        # Initialize node
         super().__init__("arm_node")
 
-        # Get launch mode parameter
+        self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
-        self.declare_parameter("launch_mode", "arm")
-        self.launch_mode = self.get_parameter("launch_mode").value
-        self.get_logger().info(f"arm launch_mode is: {self.launch_mode}")
 
-        # Create publishers
+        ##################################################
-        self.debug_pub = self.create_publisher(String, "/arm/feedback/debug", 10)
+        # Parameters
-        self.socket_pub = self.create_publisher(
-            SocketFeedback, "/arm/feedback/socket", 10
-        )
-        self.digit_pub = self.create_publisher(DigitFeedback, "/arm/feedback/digit", 10)
-        self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
 
-        # Create subscribers
+        self.declare_parameter("use_old_topics", True)
-        self.man_sub = self.create_subscription(
+        self.use_old_topics = self.get_parameter("use_old_topics").get_parameter_value().bool_value
-            ArmManual, "/arm/control/manual", self.send_manual, 2
-        )
 
-        # New messages
+        ##################################################
-        self.joint_state_pub = self.create_publisher(JointState, "joint_states", 10)
+        # Old topics
-        self.joint_state = JointState()
-        self.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.joint_state.position = [0.0] * len(
-            self.joint_state.name
-        )  # Initialize with zeros
 
-        self.joint_command_sub = self.create_subscription(
+        if self.use_old_topics:
-            JointState, "/joint_commands", self.joint_command_callback, 10
+            # Anchor topics
-        )
-
-        # Topics used in anchor mode
-        if self.launch_mode == "anchor":
             self.anchor_sub = self.create_subscription(
                 String, "/anchor/arm/feedback", self.anchor_feedback, 10
             )
             self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
 
-        self.arm_feedback = SocketFeedback()
+            # Create publishers
-        self.digit_feedback = DigitFeedback()
+            self.socket_pub = self.create_publisher(
-
+                SocketFeedback, "/arm/feedback/socket", 10
-        # Search for ports IF in 'arm' (standalone) and not 'anchor' mode
-        if self.launch_mode == "arm":
-            # Loop through all serial devices on the computer to check for the MCU
-            self.port = None
-            ports = SerialRelay.list_serial_ports()
-            for _ in range(4):
-                for port in ports:
-                    try:
-                        # connect and send a ping command
-                        ser = serial.Serial(port, 115200, timeout=1)
-                        # print(f"Checking port {port}...")
-                        ser.write(b"ping\n")
-                        response = ser.read_until("\n")  # type: ignore
-
-                        # if pong is in response, then we are talking with the MCU
-                        if b"pong" in response:
-                            self.port = port
-                            self.get_logger().info(f"Found MCU at {self.port}!")
-                            break
-                    except:
-                        pass
-                if self.port is not None:
-                    break
-
-            if self.port is None:
-                self.get_logger().info(
-                    "Unable to find MCU... please make sure it is connected."
             )
-                time.sleep(1)
+            self.arm_feedback = SocketFeedback()
-                sys.exit(1)
+            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)
 
-            self.ser = serial.Serial(self.port, 115200)
+            # Create subscribers
-            atexit.register(self.cleanup)
+            self.man_sub = self.create_subscription(
+                ArmManual, "/arm/control/manual", self.send_manual, 10
+            )
 
-    def run(self):
+        ###################################################
-        global thread
+        # New topics
-        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
-        thread.start()
 
-        # if in arm mode, will need to read from the MCU
+        # Anchor topics
 
-        try:
+        # from_vic
-            while rclpy.ok():
+        self.anchor_fromvic_sub_ = self.create_subscription(
-                if self.launch_mode == "arm":
+            VicCAN, "/anchor/from_vic/arm", self.relay_fromvic, 20
-                    if self.ser.in_waiting:
+        )
-                        self.read_mcu()
+        # to_vic
-                    else:
+        self.anchor_tovic_pub_ = self.create_publisher(
-                        time.sleep(0.1)
+            VicCAN, "/anchor/to_vic/relay", 20
-        except KeyboardInterrupt:
+        )
-            pass
-        finally:
-            self.cleanup()
 
-    # Currently will just spit out all values over the /arm/feedback/debug topic as strings
+        # Control
-    def read_mcu(self):
+
-        try:
+        # Manual: /arm/manual_new is published by Servo or Basestation
-            output = str(self.ser.readline(), "utf8")
+        self.jointjog_pub_ = self.create_subscription(
-            if output:
+            JointJog, "/arm/manual_new", self.jointjog_callback, qos_profile=control_qos
-                # self.get_logger().info(f"[MCU] {output}")
+        )
-                msg = String()
+        # IK: /joint_commands is published by JointTrajectoryController via topic_based_control
-                msg.data = output
+        self.joint_command_sub_ = self.create_subscription(
-                self.debug_pub.publish(msg)
+            JointState, "/joint_commands", self.joint_command_callback, qos_profile=control_qos
-        except serial.SerialException:
+        )
-            self.get_logger().info("SerialException caught... closing serial port.")
+
-            if self.ser.is_open:
+        # Feedback
-                self.ser.close()
+
-            pass
+        # Combined Socket and Digit feedback
-        except TypeError as e:
+        self.arm_feedback_pub_ = self.create_publisher(
-            self.get_logger().info(f"TypeError: {e}")
+            ArmFeedback,
-            print("Closing serial port.")
+            "/arm/feedback/new_feedback",
-            if self.ser.is_open:
+            qos_profile=qos.qos_profile_sensor_data,
-                self.ser.close()
+        )
-            pass
+        # IK arm pose: /joint_states is published from here to topic_based_control
-        except Exception as e:
+        self.joint_state_pub_ = self.create_publisher(
-            print(f"Exception: {e}")
+            JointState, "joint_states", qos_profile=qos.qos_profile_sensor_data
-            print("Closing serial port.")
+        )
-            if self.ser.is_open:
+
-                self.ser.close()
+        ###################################################
-            pass
+        # Saved state
+
+        # Combined Socket and Digit feedback
+        self.arm_feedback_new = ArmFeedback()
+
+        # IK Arm pose
+        self.saved_joint_state = JointState()
+        self.saved_joint_state.name = self.all_joint_names
+        # ... initialize with zeros
+        self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name)
+        self.saved_joint_state.velocity = [0.0] * len(self.saved_joint_state.name)
+
+    def jointjog_callback(self, msg: JointJog):
+        if (
+            len(msg.joint_names) == 0
+            or len(msg.velocities) == 0
+            or len(msg.joint_names) != len(msg.velocities)
+        ):
+            return  # Malformed message
+
+        # Grab velocities from message
+        velocities = [
+            (
+                msg.velocities[msg.joint_names.index(joint_name)]  # 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]
+        # ROS2's rad/s to VicCAN's deg/s*10; don't convert gripper's m/s
+        velocities = [
+            math.degrees(vel) * 10 if i < 6 else vel for i, vel in enumerate(velocities)
+        ]
+        # Axis 2 & 3 URDF direction is inverted
+        velocities[2] = -velocities[2]
+        velocities[3] = -velocities[3]
+
+        # Send Axis 0-3
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm", command_id=43, data=velocities[0:3], header=msg.header
+            )
+        )
+        # Send Wrist yaw and roll
+        # TODO: Verify embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit", command_id=43, data=velocities[4:5], header=msg.header
+            )
+        )
+        # Send End Effector Gripper
+        # TODO: Verify m/s received correctly by embedded
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit", command_id=26, data=[velocities[6]], header=msg.header
+            )
+        )
+        # TODO: use msg.duration
 
     def joint_command_callback(self, msg: JointState):
-        # Embedded takes deg*10, ROS2 uses Radians
+        if len(msg.position) < 7 and len(msg.velocity) < 7:
-        positions = [math.degrees(pos) * 10 for pos in msg.position]
+            return  # command needs either position or velocity for all 7 joints
-        # Axis 2 & 3 URDF direction is inverted
-        positions[2] = -positions[2]
-        positions[3] = -positions[3]
 
-        # Set target angles for each arm axis for embedded IK PID to handle
+        # Assumed order: Axis0, Axis1, Axis2, Axis3, Wrist_Yaw, Wrist_Roll, Gripper
-        command = f"can_relay_tovic,arm,32,{positions[0]},{positions[1]},{positions[2]},{positions[3]}\n"
+        # TODO: refactor to depend on joint names
-        # Wrist yaw and roll
+        # Embedded takes deg*10, ROS2 uses Radians
-        command += f"can_relay_tovic,digit,32,{positions[4]},{positions[5]}\n"
+        velocities = [
-        # Gripper IK does not have adequate hardware yet
+            math.degrees(vel) * 10 if abs(vel) > 0.05 else 0.0 for vel in msg.velocity
-        self.send_cmd(command)
+        ]
+        # 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.anchor_tovic_pub_.publish(arm_cmd)
+        self.anchor_tovic_pub_.publish(digit_cmd)
 
     def send_manual(self, msg: ArmManual):
+        """TODO: Old"""
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
         axis2 = msg.axis2
@@ -201,23 +244,16 @@ class SerialRelay(Node):
         return
 
     def send_cmd(self, msg: str):
-        if (
+        """TODO: Old"""
-            self.launch_mode == "anchor"
+        output = String(data=msg)
-        ):  # if in anchor mode, send to anchor node to relay
-            output = String()
-            output.data = msg
         self.anchor_pub.publish(output)
-        elif self.launch_mode == "arm":  # if in standalone mode, send to MCU directly
-            self.get_logger().info(f"[Arm to MCU] {msg}")
-            self.ser.write(bytes(msg, "utf8"))
 
     def anchor_feedback(self, msg: String):
+        """TODO: Old"""
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
-            # pass
             self.updateAngleFeedback(output)
         elif output.startswith("can_relay_fromvic,arm,54"):
-            # pass
             self.updateBusVoltage(output)
         elif output.startswith("can_relay_fromvic,arm,53"):
             self.updateMotorFeedback(output)
@@ -235,20 +271,140 @@ class SerialRelay(Node):
             if len(parts) >= 4:
                 self.digit_feedback.wrist_angle = float(parts[3])
                 # self.digit_feedback.wrist_roll = float(parts[4])
-                self.joint_state.position[4] = math.radians(
-                    float(parts[4])
-                )  # Wrist roll
-                self.joint_state.position[5] = math.radians(
-                    float(parts[3])
-                )  # Wrist yaw
         else:
             return
 
+    def relay_fromvic(self, msg: VicCAN):
+        # Code for socket and digit are broken out for cleaner code
+        if msg.mcu_name == "arm":
+            self.process_fromvic_arm(msg)
+        elif msg.mcu_name == "digit":
+            self.process_fromvic_digit(msg)
+
+    def process_fromvic_arm(self, msg: VicCAN):
+        if msg.mcu_name != "arm":
+            return
+
+        # Check message len to prevent crashing on bad data
+        if msg.command_id in self.viccan_socket_msg_len_dict:
+            expected_len = self.viccan_socket_msg_len_dict[msg.command_id]
+            if len(msg.data) != expected_len:
+                self.get_logger().warning(
+                    f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
+                )
+                return
+
+        match msg.command_id:
+            case 53:  # REV SPARK MAX feedback
+                motorId = round(msg.data[0])
+                motor: RevMotorState | None = None
+                match motorId:
+                    case 1:
+                        motor = self.arm_feedback_new.axis1_motor
+                    case 2:
+                        motor = self.arm_feedback_new.axis2_motor
+                    case 3:
+                        motor = self.arm_feedback_new.axis3_motor
+                    case 4:
+                        motor = self.arm_feedback_new.axis0_motor
+
+                if motor:
+                    motor.temperature = float(msg.data[1]) / 10.0
+                    motor.voltage = float(msg.data[2]) / 10.0
+                    motor.current = float(msg.data[3]) / 10.0
+                    motor.header.stamp = msg.header.stamp
+
+                self.arm_feedback_pub_.publish(self.arm_feedback_new)
+            case 54:  # Board voltages
+                self.arm_feedback_new.socket_voltage.vbatt = float(msg.data[0]) / 100.0
+                self.arm_feedback_new.socket_voltage.v12 = float(msg.data[1]) / 100.0
+                self.arm_feedback_new.socket_voltage.v5 = float(msg.data[2]) / 100.0
+                self.arm_feedback_new.socket_voltage.v3 = float(msg.data[3]) / 100.0
+                self.arm_feedback_new.socket_voltage.header.stamp = msg.header.stamp
+            case 55:  # Arm joint positions
+                angles = [angle / 10.0 for angle in msg.data]  # VicCAN sends deg*10
+                # Joint state publisher for URDF visualization
+                self.saved_joint_state.position[0] = math.radians(angles[0])  # Axis 0
+                self.saved_joint_state.position[1] = math.radians(angles[1])  # Axis 1
+                self.saved_joint_state.position[2] = math.radians(
+                    -angles[2]
+                )  # Axis 2 (inverted)
+                self.saved_joint_state.position[3] = math.radians(
+                    -angles[3]
+                )  # Axis 3 (inverted)
+                # Wrist is handled by digit feedback
+                self.saved_joint_state.header.stamp = msg.header.stamp
+                self.joint_state_pub_.publish(self.saved_joint_state)
+            case 58:  # REV SPARK MAX position and velocity feedback
+                motorId = round(msg.data[0])
+                motor: RevMotorState | None = None
+                match motorId:
+                    case 1:
+                        motor = self.arm_feedback_new.axis1_motor
+                    case 2:
+                        motor = self.arm_feedback_new.axis2_motor
+                    case 3:
+                        motor = self.arm_feedback_new.axis3_motor
+                    case 4:
+                        motor = self.arm_feedback_new.axis0_motor
+
+                if motor:
+                    motor.position = float(msg.data[1])
+                    motor.velocity = float(msg.data[2])
+                    motor.header.stamp = msg.header.stamp
+
+                self.arm_feedback_pub_.publish(self.arm_feedback_new)
+            case 59:  # Arm joint velocities
+                velocities = [vel / 100.0 for vel in msg.data]  # VicCAN sends deg/s*100
+                self.saved_joint_state.velocity[0] = math.radians(
+                    velocities[0]
+                )  # Axis 0
+                self.saved_joint_state.velocity[1] = math.radians(
+                    velocities[1]
+                )  # Axis 1
+                self.saved_joint_state.velocity[2] = math.radians(
+                    -velocities[2]
+                )  # Axis 2 (-)
+                self.saved_joint_state.velocity[3] = math.radians(
+                    -velocities[3]
+                )  # Axis 3 (-)
+                # Wrist is handled by digit feedback
+                self.saved_joint_state.header.stamp = msg.header.stamp
+                self.joint_state_pub_.publish(self.saved_joint_state)
+
+    def process_fromvic_digit(self, msg: VicCAN):
+        if msg.mcu_name != "digit":
+            return
+
+        # Check message len to prevent crashing on bad data
+        if msg.command_id in self.viccan_digit_msg_len_dict:
+            expected_len = self.viccan_digit_msg_len_dict[msg.command_id]
+            if len(msg.data) != expected_len:
+                self.get_logger().warning(
+                    f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
+                )
+                return
+
+        match msg.command_id:
+            case 54:  # Board voltages
+                self.arm_feedback_new.digit_voltage.vbatt = float(msg.data[0]) / 100.0
+                self.arm_feedback_new.digit_voltage.v12 = float(msg.data[1]) / 100.0
+                self.arm_feedback_new.digit_voltage.v5 = float(msg.data[2]) / 100.0
+            case 55:  # Arm joint positions
+                self.saved_joint_state.position[4] = math.radians(
+                    msg.data[0]
+                )  # Wrist roll
+                self.saved_joint_state.position[5] = math.radians(
+                    msg.data[1]
+                )  # Wrist yaw
+
     def publish_feedback(self):
+        """TODO: Old"""
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
     def updateAngleFeedback(self, msg: str):
+        """TODO: Old"""
         # Angle feedbacks,
         # split the msg.data by commas
         parts = msg.split(",")
@@ -263,20 +419,11 @@ class SerialRelay(Node):
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
             self.arm_feedback.axis3_angle = angles[3]
-
-            # Joint state publisher for URDF visualization
-            self.joint_state.position[0] = math.radians(angles[0])  # Axis 0
-            self.joint_state.position[1] = math.radians(angles[1])  # Axis 1
-            self.joint_state.position[2] = math.radians(-angles[2])  # Axis 2 (inverted)
-            self.joint_state.position[3] = math.radians(-angles[3])  # Axis 3 (inverted)
-            # Wrist is handled by digit feedback
-            self.joint_state.header.stamp = self.get_clock().now().to_msg()
-            self.joint_state_pub.publish(self.joint_state)
-
         else:
             self.get_logger().info("Invalid angle feedback input format")
 
     def updateBusVoltage(self, msg: str):
+        """TODO: Old"""
         # Bus Voltage feedbacks
         parts = msg.split(",")
         if len(parts) >= 7:
@@ -291,6 +438,7 @@ class SerialRelay(Node):
             self.get_logger().info("Invalid voltage feedback input format")
 
     def updateMotorFeedback(self, msg: str):
+        """TODO: Old"""
         parts = str(msg.strip()).split(",")
         motorId = round(float(parts[3]))
         temp = float(parts[4]) / 10.0
@@ -313,33 +461,20 @@ class SerialRelay(Node):
             self.arm_feedback.axis0_voltage = voltage
             self.arm_feedback.axis0_current = current
 
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-        # return glob.glob("/dev/tty[A-Za-z]*")
-
-    def cleanup(self):
-        print("Cleaning up...")
-        try:
-            if self.ser.is_open:
-                self.ser.close()
-        except Exception as e:
-            exit(0)
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
-
 
 def main(args=None):
     rclpy.init(args=args)
-    sys.excepthook = myexcepthook
 
-    global serial_pub
+    arm_node = ArmNode()
-    serial_pub = SerialRelay()
+    thread = threading.Thread(target=rclpy.spin, args=(arm_node,), daemon=True)
-    serial_pub.run()
+    thread.start()
+
+    try:
+        thread.join()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":

src/core_pkg/core_pkg/core_node.py

@@ -31,10 +31,10 @@ CORE_WHEEL_RADIUS = 0.171  # meters
 CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
 
 control_qos = qos.QoSProfile(
-    # history=qos.QoSHistoryPolicy.KEEP_LAST,
+    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,
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
     # deadline=Duration(seconds=1),
     # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
     # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,

src/headless_pkg/src/headless_node.py

@@ -6,21 +6,28 @@ 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_msgs.msg import String
+from std_srvs.srv import Trigger
-from geometry_msgs.msg import Twist
+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
 
+import warnings
+
+# Literally headless
+warnings.filterwarnings(
+    "ignore",
+    message="Your system is avx2 capable but pygame was not built with support for it.",
+)
+
 import pygame
 
 os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
@@ -32,29 +39,55 @@ os.environ["SDL_AUDIODRIVER"] = (
 CORE_STOP_MSG = CoreControl()  # All zeros by default
 CORE_STOP_TWIST_MSG = Twist()  # "
 ARM_STOP_MSG = ArmManual()  # "
+ARM_IK_STOP_MSG = TwistStamped()  # "
 BIO_STOP_MSG = BioControl()  # "
 
 control_qos = qos.QoSProfile(
-    # history=qos.QoSHistoryPolicy.KEEP_LAST,
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    # durability=qos.QoSDurabilityPolicy.VOLATILE,
+    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),
 )
 
-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")
 
+        # TODO: move the STOP_MSGs somewhere better
+        global ARM_STOP_JOG_MSG
+        ARM_STOP_JOG_MSG = JointJog(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg()),
+            joint_names=self.all_joint_names,
+            velocities=[0.0] * len(self.all_joint_names),
+        )
+
+        ##################################################
+        # Preamble
+
         # Wait for anchor to start
         pub_info = self.get_publishers_info_by_topic("/anchor/from_vic/debug")
         while len(pub_info) == 0:
@@ -105,12 +138,57 @@ class Headless(Node):
                 break
             id += 1
 
-        self.create_timer(0.15, self.send_controls)
+        ##################################################
+        # Parameters
 
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = (
+            self.get_parameter("use_old_topics").get_parameter_value().bool_value
+        )
+
+        self.declare_parameter("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_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)
+
+        ##################################################
+        # 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.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
             )
@@ -118,24 +196,61 @@ class Headless(Node):
                 CoreCtrlState, "/core/control/state", qos_profile=control_qos
             )
 
-        self.ctrl_mode = "core"  # Start in core mode
+            self.arm_manual_pub_ = self.create_publisher(
-        self.core_brake_mode = False
+                JointJog, "/arm/manual_new", qos_profile=control_qos
-        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+            )
+
+            self.arm_ik_twist_publisher = self.create_publisher(
+                TwistStamped, "/servo_node/delta_twist_cmds", qos_profile=control_qos
+            )
+            self.arm_ik_jointjog_publisher = self.create_publisher(
+                JointJog, "/servo_node/delta_joint_cmds", qos_profile=control_qos
+            )
+
+            # 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.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"
+            )
+            timeout_counter = 0
+            while not self.servo_start_client.wait_for_service(timeout_sec=1.0):
+                self.get_logger().info("Waiting for servo_node/start_servo service...")
+                timeout_counter += 1
+                if timeout_counter >= 10:
+                    self.get_logger().error(
+                        "Servo's start service not available. IK control will not work."
+                    )
+                    break
+            if self.servo_start_client.service_is_ready():
+                self.servo_start_client.call_async(Trigger.Request())
 
         # Rumble when node is ready (returns False if rumble not supported)
         self.gamepad.rumble(0.7, 0.8, 150)
 
-    def run(self):
+    def stop_all(self):
-        # This thread makes all the update processes run in the background
+        if self.use_old_topics:
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+            self.core_publisher.publish(CORE_STOP_MSG)
-        thread.start()
+            self.arm_publisher.publish(ARM_STOP_MSG)
-
+            self.bio_publisher.publish(BIO_STOP_MSG)
-        try:
+        else:
-            while rclpy.ok():
+            self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
-                self.send_controls()
+            if self.use_arm_ik:
-                time.sleep(0.1)  # Small delay to avoid CPU hogging
+                self.arm_ik_twist_publisher.publish(ARM_IK_STOP_MSG)
-        except KeyboardInterrupt:
+            else:
-            sys.exit(0)
+                self.arm_manual_pub_.publish(ARM_STOP_JOG_MSG)
+            # TODO: add bio here after implementing new topics
 
     def send_controls(self):
         """Read the gamepad state and publish control messages"""
@@ -147,10 +262,8 @@ class Headless(Node):
         # Check if controller is still connected
         if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
-            # Send one last zero control message
+            # Stop the rover if controller disconnected
-            self.core_publisher.publish(CORE_STOP_MSG)
+            self.stop_all()
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            self.bio_publisher.publish(BIO_STOP_MSG)
             self.get_logger().info("Final stop commands sent. Shutting down.")
             # Clean up
             pygame.quit()
@@ -166,20 +279,51 @@ class Headless(Node):
             new_ctrl_mode = "core"
 
         if new_ctrl_mode != self.ctrl_mode:
+            self.stop_all()
             self.gamepad.rumble(0.6, 0.7, 75)
             self.ctrl_mode = new_ctrl_mode
             self.get_logger().info(f"Switched to {self.ctrl_mode} control mode")
+            if self.ctrl_mode == "arm" and self.use_bio:
+                self.get_logger().warning("NOTE: Using bio instead of arm.")
 
-        # CORE
+        # Actually send the controls
-        if self.ctrl_mode == "core" and CORE_MODE == "duty":
+        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))
 
@@ -194,19 +338,10 @@ class Headless(Node):
             self.get_logger().info(f"[Ctrl] {output}")
 
             self.core_publisher.publish(input)
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            # self.bio_publisher.publish(BIO_STOP_MSG)
 
-        elif self.ctrl_mode == "core" and CORE_MODE == "twist":
+        else:  # New topics
             input = Twist()
 
-            # Collect controller state
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
-            right_stick_x = deadzone(self.gamepad.get_axis(3))
-            button_a = self.gamepad.get_button(0)
-            left_bumper = self.gamepad.get_button(4)
-            right_bumper = self.gamepad.get_button(5)
-
             # Forward/back and Turn
             input.linear.x = -1.0 * left_stick_y
             input.angular.z = -1.0 * copysign(
@@ -215,8 +350,6 @@ class Headless(Node):
 
             # Publish
             self.core_twist_pub_.publish(input)
-            self.arm_publisher.publish(ARM_STOP_MSG)
-            # self.bio_publisher.publish(BIO_STOP_MSG)
             self.get_logger().info(
                 f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}"
             )
@@ -241,25 +374,36 @@ class Headless(Node):
                 state_msg = CoreCtrlState()
                 state_msg.brake_mode = bool(self.core_brake_mode)
                 state_msg.max_duty = float(self.core_max_duty)
+
                 self.core_state_pub_.publish(state_msg)
                 self.get_logger().info(
                     f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}"
                 )
 
-        # ARM and BIO
+    def send_arm(self):
-        if self.ctrl_mode == "arm":
-            arm_input = ArmManual()
-
         # Collect controller state
-            left_stick_x = deadzone(self.gamepad.get_axis(0))
+        left_stick_x = stick_deadzone(self.gamepad.get_axis(0))
-            left_stick_y = deadzone(self.gamepad.get_axis(1))
+        left_stick_y = stick_deadzone(self.gamepad.get_axis(1))
-            left_trigger = deadzone(self.gamepad.get_axis(2))
+        left_trigger = stick_deadzone(self.gamepad.get_axis(2))
-            right_stick_x = deadzone(self.gamepad.get_axis(3))
+        right_stick_x = stick_deadzone(self.gamepad.get_axis(3))
-            right_stick_y = deadzone(self.gamepad.get_axis(4))
+        right_stick_y = stick_deadzone(self.gamepad.get_axis(4))
-            right_trigger = deadzone(self.gamepad.get_axis(5))
+        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)
 
+        # 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
@@ -302,30 +446,228 @@ class Headless(Node):
                     if abs(right_stick_y) > 0.15:
                         arm_input.axis3 = -1 * round(right_stick_y)
 
-            # BIO
+            # 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 _
+                # 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.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 = 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 = int(dpad_input[0])
+
+                # Triggers: EF Grippers
+                if left_trigger > 0 and right_trigger > 0:
+                    arm_input.gripper = 0
+                elif left_trigger > 0:
+                    arm_input.gripper = -1
+                elif right_trigger > 0:
+                    arm_input.gripper = 1
+
+                # Bumpers: EF roll
+                if left_bumper > 0 and right_bumper > 0:
+                    arm_input.effector_roll = 0
+                elif left_bumper > 0:
+                    arm_input.effector_roll = -1
+                elif right_bumper > 0:
+                    arm_input.effector_roll = 1
+
+                # A: brake
+                if button_a:
+                    arm_input.brake = True
+
+                # Y: linear actuator
+                if button_y and not button_b:
+                    arm_input.linear_actuator = 1
+                elif button_b and not button_y:
+                    arm_input.linear_actuator = -1
+                else:
+                    arm_input.linear_actuator = 0
+
+            self.arm_publisher.publish(arm_input)
+
+        # NEW MANUAL
+        # ==========
+
+        elif 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
+
+            ARM_THRESHOLD = 0.2
+
+            # Right stick: EF yaw and axis 3
+            arm_input.velocities[self.all_joint_names.index("wrist_yaw_joint")] = float(
+                stick_to_arm_direction(right_stick_x)
+            )
+            arm_input.velocities[self.all_joint_names.index("axis_3_joint")] = float(
+                -1 * stick_to_arm_direction(right_stick_y)
+            )
+
+            # 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(
+                -1 * 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
+            # TODO: Brake mode
+
+            # Y: linear actuator
+            # TODO: linear actuator
+
+            self.arm_manual_pub_.publish(arm_input)
+
+        # 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()
+            arm_jointjog = JointJog()
+            arm_jointjog.header.frame_id = "base_link"
+            arm_jointjog.header.stamp = self.get_clock().now().to_msg()
+
+            # Right stick: linear y and linear x
+            # Left stick: angular z and linear z
+            # D-pad: angular y and _
+            # Triggers: EF grippers
+            # Bumpers: angular x
+            # A: brake
+            # B: IK mode
+            # X: manual mode
+            # Y: linear actuator
+
+            # Right stick: linear y and linear x
+            arm_twist.twist.linear.y = float(right_stick_x)
+            arm_twist.twist.linear.x = float(right_stick_y)
+
+            # Left stick: angular z and linear z
+            arm_twist.twist.angular.z = float(-1 * left_stick_x)
+            arm_twist.twist.linear.z = float(-1 * left_stick_y)
+            # D-pad: angular y and _
+            arm_twist.twist.angular.y = (
+                float(0)
+                if dpad_input[0] == 0
+                else float(-1 * copysign(0.75, dpad_input[0]))
+            )
+
+            # Triggers: EF Grippers
+            if left_trigger > 0 or right_trigger > 0:
+                arm_jointjog.joint_names.append("ef_gripper_left_joint")  # type: ignore
+                arm_jointjog.velocities.append(float(right_trigger - left_trigger))
+
+            # Bumpers: angular x
+            if left_bumper > 0 and right_bumper > 0:
+                arm_twist.twist.angular.x = float(0)
+            elif left_bumper > 0:
+                arm_twist.twist.angular.x = float(1)
+            elif right_bumper > 0:
+                arm_twist.twist.angular.x = float(-1)
+
+            self.arm_ik_twist_publisher.publish(arm_twist)
+            # self.arm_ik_jointjog_publisher.publish(arm_jointjog)  # TODO: Figure this shit out
+
+    def send_bio(self):
+        # Collect controller state
+        left_stick_x = 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:
             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:
+            if left_trigger > 0 or right_trigger > 0:
                 bio_input.drill = int(
                     30 * (right_trigger - left_trigger)
                 )  # Max duty cycle 30%
 
-            self.core_publisher.publish(CORE_STOP_MSG)
+            self.bio_publisher.publish(bio_input)
-            self.arm_publisher.publish(arm_input)
+
-            # self.bio_publisher.publish(bio_input)
+        else:
+            pass  # TODO: implement new bio control topics
 
 
-def deadzone(value: float, threshold=0.05) -> float:
+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:
@@ -344,20 +686,26 @@ 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):
         print("Caught shutdown signal. Exiting...")
     finally:
-        rclpy.shutdown()
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
-    signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
-    )  # Catch termination signals and exit cleanly
     main()

src/latency_tester/src/embedded_ping.cpp

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

src/servo_arm_twist_pkg/CMakeLists.txt

@@ -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

@@ -1,268 +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/node.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/subscription.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/time.hpp>
-
-// We'll just set up parameters here
-const std::string JOY_TOPIC = "/joy";
-const std::string TWIST_TOPIC = "/servo_node/delta_twist_cmds";
-const std::string JOINT_TOPIC = "/servo_node/delta_joint_cmds";
-const std::string EEF_FRAME_ID = "End_Effector";
-const std::string BASE_FRAME_ID = "base_link";
-
-// Enums for button names -> axis/button array index
-// For XBOX 1 controller
-enum Axis
-{
-    LEFT_STICK_X = 0,
-    LEFT_STICK_Y = 1,
-    LEFT_TRIGGER = 2,
-    RIGHT_STICK_X = 3,
-    RIGHT_STICK_Y = 4,
-    RIGHT_TRIGGER = 5,
-    D_PAD_X = 6,
-    D_PAD_Y = 7
-};
-enum Button
-{
-    A = 0,
-    B = 1,
-    X = 2,
-    Y = 3,
-    LEFT_BUMPER = 4,
-    RIGHT_BUMPER = 5,
-    CHANGE_VIEW = 6,
-    MENU = 7,
-    HOME = 8,
-    LEFT_STICK_CLICK = 9,
-    RIGHT_STICK_CLICK = 10
-};
-
-// Some axes have offsets (e.g. the default trigger position is 1.0 not 0)
-// This will map the default values for the axes
-std::map<Axis, double> AXIS_DEFAULTS = { { LEFT_TRIGGER, 1.0 }, { RIGHT_TRIGGER, 1.0 } };
-std::map<Button, double> BUTTON_DEFAULTS;
-
-// To change controls or setup a new controller, all you should to do is change the above enums and the follow 2
-// functions
-/** \brief // This converts a joystick axes and buttons array to a TwistStamped or JointJog message
- * @param axes The vector of continuous controller joystick axes
- * @param buttons The vector of discrete controller button values
- * @param twist A TwistStamped message to update in prep for publishing
- * @param joint A JointJog message to update in prep for publishing
- * @return return true if you want to publish a Twist, false if you want to publish a JointJog
- */
-bool convertJoyToCmd(const std::vector<float>& axes, const std::vector<int>& buttons,
-                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist
-                     // std::unique_ptr<control_msgs::msg::JointJog>& joint
-                    )
-{
-    // // Give joint jogging priority because it is only buttons
-    // // If any joint jog command is requested, we are only publishing joint commands
-    // if (buttons[A] || buttons[B] || buttons[X] || buttons[Y] || axes[D_PAD_X] || axes[D_PAD_Y])
-    // {
-    //   // Map the D_PAD to the proximal joints
-    //   joint->joint_names.push_back("panda_joint1");
-    //   joint->velocities.push_back(axes[D_PAD_X]);
-    //   joint->joint_names.push_back("panda_joint2");
-    //   joint->velocities.push_back(axes[D_PAD_Y]);
-
-    //   // Map the diamond to the distal joints
-    //   joint->joint_names.push_back("panda_joint7");
-    //   joint->velocities.push_back(buttons[B] - buttons[X]);
-    //   joint->joint_names.push_back("panda_joint6");
-    //   joint->velocities.push_back(buttons[Y] - buttons[A]);
-    //   return false;
-    // }
-
-    // The bread and butter: map buttons to twist commands
-    twist->twist.linear.z = axes[RIGHT_STICK_Y];
-    twist->twist.linear.y = axes[RIGHT_STICK_X];
-
-    double lin_x_right = -0.5 * (axes[RIGHT_TRIGGER] - AXIS_DEFAULTS.at(RIGHT_TRIGGER));
-    double lin_x_left = 0.5 * (axes[LEFT_TRIGGER] - AXIS_DEFAULTS.at(LEFT_TRIGGER));
-    twist->twist.linear.x = lin_x_right + lin_x_left;
-
-    twist->twist.angular.y = axes[LEFT_STICK_Y];
-    twist->twist.angular.x = axes[LEFT_STICK_X];
-
-    double roll_positive = buttons[RIGHT_BUMPER];
-    double roll_negative = -1 * (buttons[LEFT_BUMPER]);
-    twist->twist.angular.z = roll_positive + roll_negative;
-
-    return true;
-}
-
-/** \brief // This should update the frame_to_publish_ as needed for changing command frame via controller
- * @param frame_name Set the command frame to this
- * @param buttons The vector of discrete controller button values
- */
-void updateCmdFrame(std::string& frame_name, const std::vector<int>& buttons)
-{
-    if (buttons[CHANGE_VIEW] && frame_name == EEF_FRAME_ID)
-        frame_name = BASE_FRAME_ID;
-    else if (buttons[MENU] && frame_name == BASE_FRAME_ID)
-        frame_name = EEF_FRAME_ID;
-}
-
-namespace servo_arm_twist_pkg
-{
-class JoyToServoPub : public rclcpp::Node
-{
-public:
-    JoyToServoPub(const rclcpp::NodeOptions& options)
-        : Node("joy_to_twist_publisher", options), frame_to_publish_(BASE_FRAME_ID)
-    {
-        // Setup pub/sub
-        joy_sub_ = this->create_subscription<sensor_msgs::msg::Joy>(
-            JOY_TOPIC, rclcpp::SystemDefaultsQoS(),
-            [this](const sensor_msgs::msg::Joy::ConstSharedPtr& msg) { return joyCB(msg); });
-
-        twist_pub_ = this->create_publisher<geometry_msgs::msg::TwistStamped>(TWIST_TOPIC, rclcpp::SystemDefaultsQoS());
-        joint_pub_ = this->create_publisher<control_msgs::msg::JointJog>(JOINT_TOPIC, rclcpp::SystemDefaultsQoS());
-        // collision_pub_ =
-        //     this->create_publisher<moveit_msgs::msg::PlanningScene>("/planning_scene", rclcpp::SystemDefaultsQoS());
-
-        // Create a service client to start the ServoNode
-        servo_start_client_ = this->create_client<std_srvs::srv::Trigger>("/servo_node/start_servo");
-        servo_start_client_->wait_for_service(std::chrono::seconds(1));
-        servo_start_client_->async_send_request(std::make_shared<std_srvs::srv::Trigger::Request>());
-
-        // // Load the collision scene asynchronously
-        // collision_pub_thread_ = std::thread([this]() {
-        //   rclcpp::sleep_for(std::chrono::seconds(3));
-        //   // Create collision object, in the way of servoing
-        //   moveit_msgs::msg::CollisionObject collision_object;
-        //   collision_object.header.frame_id = "panda_link0";
-        //   collision_object.id = "box";
-
-        //   shape_msgs::msg::SolidPrimitive table_1;
-        //   table_1.type = table_1.BOX;
-        //   table_1.dimensions = { 0.4, 0.6, 0.03 };
-
-        //   geometry_msgs::msg::Pose table_1_pose;
-        //   table_1_pose.position.x = 0.6;
-        //   table_1_pose.position.y = 0.0;
-        //   table_1_pose.position.z = 0.4;
-
-        //   shape_msgs::msg::SolidPrimitive table_2;
-        //   table_2.type = table_2.BOX;
-        //   table_2.dimensions = { 0.6, 0.4, 0.03 };
-
-        //   geometry_msgs::msg::Pose table_2_pose;
-        //   table_2_pose.position.x = 0.0;
-        //   table_2_pose.position.y = 0.5;
-        //   table_2_pose.position.z = 0.25;
-
-        //   collision_object.primitives.push_back(table_1);
-        //   collision_object.primitive_poses.push_back(table_1_pose);
-        //   collision_object.primitives.push_back(table_2);
-        //   collision_object.primitive_poses.push_back(table_2_pose);
-        //   collision_object.operation = collision_object.ADD;
-
-        //   moveit_msgs::msg::PlanningSceneWorld psw;
-        //   psw.collision_objects.push_back(collision_object);
-
-        //   auto ps = std::make_unique<moveit_msgs::msg::PlanningScene>();
-        //   ps->world = psw;
-        //   ps->is_diff = true;
-        //   collision_pub_->publish(std::move(ps));
-        // });
-    }
-
-    // ~JoyToServoPub() override
-    // {
-    //     if (collision_pub_thread_.joinable())
-    //         collision_pub_thread_.join();
-    // }
-
-    void joyCB(const sensor_msgs::msg::Joy::ConstSharedPtr& msg)
-    {
-        // Create the messages we might publish
-        auto twist_msg = std::make_unique<geometry_msgs::msg::TwistStamped>();
-        auto joint_msg = std::make_unique<control_msgs::msg::JointJog>();
-
-        // This call updates the frame for twist commands
-        updateCmdFrame(frame_to_publish_, msg->buttons);
-
-        // Convert the joystick message to Twist or JointJog and publish
-        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg))
-        {
-            // 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)