feat: (core) make compatible with ros2_control

.dockerignore

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

.env

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

README.md

@@ -11,7 +11,6 @@ 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)
@@ -48,17 +47,6 @@ $ 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

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

flake.nix

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

src/anchor_pkg/launch/rover.launch.py

@@ -1,13 +1,21 @@
 #!/usr/bin/env python3
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
+from launch.actions import (
+    DeclareLaunchArgument,
+    OpaqueFunction,
+    Shutdown,
+    IncludeLaunchDescription,
+)
 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
@@ -40,7 +48,10 @@ def launch_setup(context, *args, **kwargs):
                 executable="core",  # change as needed
                 name="core",
                 output="both",
-                parameters=[{"launch_mode": mode}],
+                parameters=[
+                    {"launch_mode": mode},
+                    {"use_ros2_control": LaunchConfiguration("use_ros2_control", default=False)},
+                ],
                 on_exit=Shutdown(),
             )
         )
@@ -133,4 +144,46 @@ def generate_launch_description():
         description="Launch mode: arm, core, bio, anchor, or ptz",
     )
 
-    return LaunchDescription([declare_arg, OpaqueFunction(function=launch_setup)])
+    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),
+        ]
+    )

src/core_pkg/core_pkg/core_node.py

@@ -66,6 +66,10 @@ 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
 
@@ -85,24 +89,28 @@ class SerialRelay(Node):
 
         # 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
-        )
-        # 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
-        )
+        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
 
         # Feedback
 
@@ -122,7 +130,7 @@ class SerialRelay(Node):
         )  # 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
+            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
         )
         # IMU (embedded BNO-055)
         self.imu_pub_ = self.create_publisher(
@@ -148,10 +156,11 @@ class SerialRelay(Node):
 
         # 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
+        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()
@@ -283,6 +292,40 @@ 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
@@ -528,22 +571,27 @@ 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
 
+                # 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 _:
@@ -581,6 +629,10 @@ 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

src/servo_arm_twist_pkg/src/joystick_twist.cpp

@@ -43,12 +43,16 @@
 #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/subscription.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";
@@ -100,9 +104,8 @@ std::map<Button, double> BUTTON_DEFAULTS;
  * @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
-                    )
+                     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
@@ -233,7 +236,7 @@ public:
         updateCmdFrame(frame_to_publish_, msg->buttons);
 
         // Convert the joystick message to Twist or JointJog and publish
-        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg))
+        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg, joint_msg))
         {
             // publish the TwistStamped
             twist_msg->header.frame_id = frame_to_publish_;