fix the readme

Anchor Serial Refactor

README.md

@@ -65,10 +65,10 @@ You can fake the presence of a Serial device (i.e., MCU) by using the following
 $ socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT
 ```
 
-When you go to run anchor, use the `PORT_OVERRIDE` environment variable to point it to the fake serial port, like so:
+When you go to run anchor, use the `port_override` launch parameter to point it to the fake serial port, like so:
 
 ```bash
-$ PORT_OVERRIDE=/tmp/ttyACM9 ros2 launch anchor_pkg rover.launch.py
+$ ros2 launch anchor_pkg rover.launch.py port_override:=/tmp/ttyACM9
 ```
 
 ### Connecting the GuliKit Controller
@@ -121,23 +121,24 @@ A: Don't worry about it. If you had the workspace sourced, ROS2 will complain ab
 ...
 ```
 
-A: To find a microcontroller to talk to, Anchor sends a ping to every Serial port on your computer. If it does not receive a 'pong' in less than one second, then it aborts. There are a few possible fixes:
+A: To find a microcontroller to talk to, Anchor filters through your available serial ports to find microcontrollers. If the microcontroller fails
+to respond properly, or one is not found, it will abort. There are a few possible fixes:
 
 - Keep trying to run it until it works
 - Run `lsusb` to see if the microcontroller is detected by your computer.
 - Run `ls /dev/tty*0` to see if there is a valid Serial port enumerated for the microcontroller.
-- Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`).
+- Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`) by using the `groups` command.
 
 ## Packages
 
 - [anchor\_pkg](./src/anchor_pkg) - Handles Serial communication between the various other packages here and the microcontroller.
 - [arm\_pkg](./src/arm_pkg) - Relays controls and sensor data for the arm (socket and digit) between anchor and basestation/headless.
 - [astra\_descriptions](./src/astra_descriptions) - Submodule with URDF-related packages.
+- [astra\_msgs](./src/astra_msgs) - Contains custom message types for communication between basestation and the rover over ROS2.
 - [bio\_pkg](./src/bio_pkg) - Like arm_pkg, but for CITADEL and FAERIE
 - [core\_pkg](./src/core_pkg) - Like arm_pkg, but for Core
 - [headless\_pkg](./src/headless_pkg) - Simple, non-graphical controller node to work in place of basestation when controlling the rover by itself. This is autostarted with anchor to allow for setup-less control of the rover.
 - [latency\_tester](./src/latency_tester) - A temporary node to test comms latency over ROS2, Serial, and CAN.
-- [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.
 
 ## Maintainers

auto_start/auto_start_anchor.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/auto_start_headless_full.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/start_rosbag.sh

@@ -17,7 +17,11 @@ done
 echo "[INFO] Network interface is up!"
 
 
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 source $ANCHOR_WS/install/setup.bash
 [[ -f $AUTONOMY_WS/install/setup.bash ]] && source $AUTONOMY_WS/install/setup.bash
 

flake.nix

@@ -18,12 +18,6 @@
         pkgs = import nixpkgs {
           inherit system;
           overlays = [ nix-ros-overlay.overlays.default ];
-          config = {
-            # Allow the insecure freeimage package
-            permittedInsecurePackages = [
-              "freeimage-3.18.0-unstable-2024-04-18"
-            ];
-          };
         };
       in
       {
@@ -41,7 +35,7 @@
               ]
             ))
             (
-              with rosPackages.jazzy;
+              with rosPackages.humble;
               buildEnv {
                 paths = [
                   ros-core
@@ -70,13 +64,12 @@
                   moveit-ros-move-group
                   moveit-servo
                   moveit-simple-controller-manager
+                  topic-based-ros2-control
                   pilz-industrial-motion-planner
                   pick-ik
                   ompl
                   chomp-motion-planner
                   joy
-                  ros-gz-sim
-                  ros-gz-bridge
                   # ros2-controllers nixpkg does not build :(
                 ];
               }
@@ -86,10 +79,6 @@
             # Display stuff
             export DISPLAY=''${DISPLAY:-:0}
             export QT_X11_NO_MITSHM=1
-	    if [[ ! $DIRENV_IN_ENVRC ]]; then
-              eval "$(${pkgs.python3Packages.argcomplete}/bin/register-python-argcomplete ros2)"
-              eval "$(${pkgs.python3Packages.argcomplete}/bin/register-python-argcomplete colcon)"
-            fi
           '';
         };
       }

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,84 +1,137 @@
-import rclpy
-from rclpy.node import Node
-from std_srvs.srv import Empty
-
-import signal
-import time
 import atexit
-
-import serial
-import os
-import sys
-import threading
 import glob
+import signal
+import threading
+from typing import cast
+
+import rclpy
+import serial
+import serial.tools.list_ports
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from std_msgs.msg import Header, String
 
-from std_msgs.msg import String, Header
 from astra_msgs.msg import VicCAN
 
-serial_pub = None
-thread = None
+KNOWN_USBS = [
+    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
+    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
+    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
+    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
+]
 
 
-"""
-Publishers:
-  * /anchor/from_vic/debug
-    - Every string received from the MCU is published here for debugging
-  * /anchor/from_vic/core
-    - VicCAN messages for Core node
-  * /anchor/from_vic/arm
-    - VicCAN messages for Arm node
-  * /anchor/from_vic/bio
-    - VicCAN messages for Bio node
+class Anchor(Node):
+    """
+    Publishers:
+    * /anchor/from_vic/debug
+        - Every string received from the MCU is published here for debugging
+    * /anchor/from_vic/core
+        - VicCAN messages for Core node
+    * /anchor/from_vic/arm
+        - VicCAN messages for Arm node
+    * /anchor/from_vic/bio
+        - VicCAN messages for Bio node
 
-Subscribers:
-  * /anchor/from_vic/mock_mcu
-    - For testing without an actual MCU, publish strings here as if they came from an MCU
-  * /anchor/to_vic/relay
-    - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
-  * /anchor/to_vic/relay_string
-    - Publish raw strings to this topic to send directly to the MCU for debugging
-"""
+    Subscribers:
+    * /anchor/from_vic/mock_mcu
+        - For testing without an actual MCU, publish strings here as if they came from an MCU
+    * /anchor/to_vic/relay
+        - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
+    * /anchor/to_vic/relay_string
+        - Publish raw strings to this topic to send directly to the MCU for debugging
+    """
 
+    serial_port: str | None = None  # e.g., "/dev/ttyUSB0"
 
-class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
-        super().__init__("anchor_node")  # previously 'serial_publisher'
+        super().__init__("anchor_node")
 
-        # Loop through all serial devices on the computer to check for the MCU
-        self.port = None
-        if port_override := os.getenv("PORT_OVERRIDE"):
-            self.port = port_override
-        ports = SerialRelay.list_serial_ports()
-        for i in range(4):
-            if self.port is not None:
-                break
-            for port in ports:
-                try:
-                    # connect and send a ping command
-                    ser = serial.Serial(port, 115200, timeout=1)
-                    # (f"Checking port {port}...")
-                    ser.write(b"ping\n")
-                    response = ser.read_until(bytes("\n", "utf8"))
+        self.declare_parameter(
+            "port_override",
+            "",
+            ParameterDescriptor(
+                name="port_override", type=ParameterType.PARAMETER_STRING
+            ),
+        )
 
-                    # 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
+        # Serial port override
+        if port_override := self.get_parameter("port_override").value:
+            self.serial_port = cast(str, port_override)  # Cast to make the linter happy
 
-        if self.port is None:
-            self.get_logger().info("Unable to find MCU...")
-            time.sleep(1)
-            sys.exit(1)
+        ##################################################
+        # Serial MCU Discovery
 
-        self.ser = serial.Serial(self.port, 115200)
-        self.get_logger().info(f"Enabling Relay Mode")
-        self.ser.write(b"can_relay_mode,on\n")
+        # If there was not a port override, look for a MCU over USB for Serial.
+        if self.serial_port is None:
+            comports = serial.tools.list_ports.comports()
+            recog_ports = list(
+                filter(
+                    # Filter for ports we know that aren't invalid
+                    lambda p: (p.vid, p.pid) in KNOWN_USBS and p.device is not None,
+                    comports,
+                )
+            )
+
+            # Guards
+            if len(recog_ports) > 1:  # If we found too many
+                self.get_logger().fatal(
+                    f"Found multiple recognized MCUs: {[p.device for p in recog_ports].__str__()}"
+                )
+                exit(1)
+            if len(recog_ports) == 0:
+                self.get_logger().fatal(
+                    f"Found no recognized MCUs: {[p.device for p in recog_ports].__str__()}"
+                )
+                exit(1)
+
+            # Everything is ok
+            found_port = recog_ports[0]
+            self.get_logger().info(
+                f"Selecting MCU '{found_port.description}' at {found_port.device}."
+            )
+            # String, location of device file; e.g., '/dev/ttyACM0'
+            self.serial_port = found_port.device
+
+        # Found a Serial port, try to open it; above code has not officially opened a Serial port
+        self.get_logger().debug(
+            f"Attempting to open Serial port '{self.serial_port}'..."
+        )
+        try:
+            self.serial_interface = serial.Serial(self.serial_port, 115200, timeout=1)
+
+            # Attempt to get name of connected MCU
+            self.serial_interface.write(b"can_relay_mode,on\n")  # can_relay_ready,[mcu]
+            mcu_name: str = ""
+            for _ in range(4):  # Sometimes it takes a sec
+                response = self.serial_interface.read_until(bytes("\n", "utf8"))
+                if b"can_relay_ready" in response:
+                    try:
+                        args: list[str] = response.decode("utf8").strip().split(",")
+                    except UnicodeDecodeError:
+                        continue  # ignore malformed responses
+                    if len(args) == 2:
+                        mcu_name = args[1]
+                    break
+            self.get_logger().info(
+                f"MCU '{mcu_name}' is ready at '{self.serial_port}'."
+            )
+
+        except serial.SerialException as e:
+            self.get_logger().fatal(
+                f"Could not open Serial port '{self.serial_port}' for reason:"
+            )
+            self.get_logger().fatal(e.strerror)
+            exit(1)
+
+        # Close serial port on exit
         atexit.register(self.cleanup)
 
+        ##################################################
+        # ROS2 Topic Setup
+
         # New pub/sub with VicCAN
         self.fromvic_debug_pub_ = self.create_publisher(
             String, "/anchor/from_vic/debug", 20
@@ -115,62 +168,40 @@ class SerialRelay(Node):
             String, "/anchor/relay", self.on_relay_tovic_string, 10
         )
 
-    def run(self):
-        # This thread makes all the update processes run in the background
-        global thread
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-        thread.start()
-
-        try:
-            while rclpy.ok():
-                self.read_MCU()  # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
-
     def read_MCU(self):
         """Check the USB serial port for new data from the MCU, and publish string to appropriate topics"""
+        output: str | None = None
         try:
-            output = str(self.ser.readline(), "utf8")
-
-            if output:
-                self.relay_fromvic(output)
-                # All output over debug temporarily
-                # self.get_logger().info(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,core"):
-                    self.core_pub.publish(msg)
-                elif output.startswith("can_relay_fromvic,arm") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for voltage readings
-                    self.arm_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,citadel") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for SHT sensor
-                    self.bio_pub.publish(msg)
-                # msg = String()
-                # msg.data = output
-                # self.debug_pub.publish(msg)
-                return
+            output = str(self.serial_interface.readline(), "utf8")
         except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
+            self.get_logger().fatal(f"SerialException: {e}")
             exit(1)
         except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
+            self.get_logger().fatal(f"TypeError: {e}")
             exit(1)
         except Exception as e:
-            print(f"Exception: {e}")
-            # print("Closing serial port.")
-            # if self.ser.is_open:
-            #     self.ser.close()
-            # exit(1)
+            self.get_logger().error(f"Exception: {e}")
+
+        if output:
+            self.relay_fromvic(output)
+            msg = String()
+            msg.data = output
+
+            # All output over debug
+            self.debug_pub.publish(msg)
+
+            # Send the message to the right place
+            if output.startswith("can_relay_fromvic,core"):
+                self.core_pub.publish(msg)
+            elif output.startswith("can_relay_fromvic,arm") or output.startswith(
+                "can_relay_fromvic,digit"
+            ):  # digit for voltage readings
+                self.arm_pub.publish(msg)
+            if output.startswith("can_relay_fromvic,citadel") or output.startswith(
+                "can_relay_fromvic,digit"
+            ):  # digit for SHT sensor
+                self.bio_pub.publish(msg)
+            return
 
     def on_mock_fromvic(self, msg: String):
         """For testing without an actual MCU, publish strings here as if they came from an MCU"""
@@ -184,7 +215,7 @@ class SerialRelay(Node):
             output += f",{round(num, 7)}"  # limit to 7 decimal places
         output += "\n"
         # self.get_logger().info(f"VicCAN relay to MCU: {output}")
-        self.ser.write(bytes(output, "utf8"))
+        self.serial_interface.write(bytes(output, "utf8"))
 
     def relay_fromvic(self, msg: str):
         """Relay a string message from the MCU to the appropriate VicCAN topic"""
@@ -246,7 +277,7 @@ class SerialRelay(Node):
         """Relay a raw string message to the MCU for debugging"""
         message = msg.data
         # self.get_logger().info(f"Sending command to MCU: {msg}")
-        self.ser.write(bytes(message, "utf8"))
+        self.serial_interface.write(bytes(message, "utf8"))
 
     @staticmethod
     def list_serial_ports():
@@ -254,29 +285,30 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up before terminating...")
-        if self.ser.is_open:
-            self.ser.close()
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
+        if self.serial_interface.is_open:
+            self.serial_interface.close()
 
 
 def main(args=None):
-    rclpy.init(args=args)
-    sys.excepthook = myexcepthook
+    try:
+        rclpy.init(args=args)
+        anchor_node = Anchor()
 
-    global serial_pub
+        thread = threading.Thread(target=rclpy.spin, args=(anchor_node,), daemon=True)
+        thread.start()
 
-    serial_pub = SerialRelay()
-    serial_pub.run()
+        rate = anchor_node.create_rate(100)  # 100 Hz -- arbitrary rate
+        while rclpy.ok():
+            anchor_node.read_MCU()  # Check the MCU for updates
+            rate.sleep()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal, shutting down...")
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
-    # signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
+        signal.SIGTERM, lambda signum, frame: exit(0)
     )  # Catch termination signals and exit cleanly
     main()

src/core_pkg/core_pkg/core_ptz.py

@@ -1,24 +1,25 @@
 #!/usr/bin/env python3
-import rclpy
-from rclpy.node import Node
 import asyncio
-from concurrent.futures import ThreadPoolExecutor
 import signal
 import sys
 import threading
 import time
+from concurrent.futures import ThreadPoolExecutor
 
+import rclpy
+from rclpy.node import Node
 from std_msgs.msg import String
+
 from astra_msgs.msg import PtzControl, PtzFeedback
 
 # Import the SIYI SDK
 from core_pkg.siyi_sdk import (
-    SiyiGimbalCamera,
-    CommandID,
-    DataStreamType,
-    DataStreamFrequency,
-    SingleAxis,
     AttitudeData,
+    CommandID,
+    DataStreamFrequency,
+    DataStreamType,
+    SingleAxis,
+    SiyiGimbalCamera,
 )
 
 
@@ -262,7 +263,7 @@ class PtzNode(Node):
             f"[{self.get_clock().now().nanoseconds / 1e9:.2f}] PTZ Node: {message_text}"
         )
         self.debug_pub.publish(msg)
-        self.get_logger().info(message_text)
+        self.get_logger().debug(message_text)
 
     def run_async_func(self, coro):
         """Run an async function in the event loop."""

src/headless_pkg/src/headless_node.py

@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
 from rclpy import qos
 from rclpy.duration import Duration
 
@@ -11,6 +12,8 @@ import os
 import sys
 import threading
 import glob
+import pwd
+import grp
 from math import copysign
 
 from std_msgs.msg import String
@@ -71,9 +74,36 @@ class Headless(Node):
             print("No gamepad found. Waiting...")
 
         # Initialize the gamepad
-        self.gamepad = pygame.joystick.Joystick(0)
-        self.gamepad.init()
-        print(f"Gamepad Found: {self.gamepad.get_name()}")
+        id = 0
+        while True:
+            self.num_gamepads = pygame.joystick.get_count()
+            if id >= self.num_gamepads:
+                self.get_logger().fatal("Ran out of controllers to try")
+                sys.exit(1)
+
+            try:
+                self.gamepad = pygame.joystick.Joystick(id)
+                self.gamepad.init()
+            except Exception as e:
+                self.get_logger().error("Error when initializing gamepad")
+                self.get_logger().error(e)
+                id += 1
+                continue
+            print(f"Gamepad Found: {self.gamepad.get_name()}")
+
+            if self.gamepad.get_numhats() == 0 or self.gamepad.get_numaxes() < 5:
+                self.get_logger().error("Controller not correctly initialized.")
+                if not is_user_in_group("input"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to add yourself to the 'input' group."
+                    )
+                if is_user_in_group("plugdev"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to remove yourself from the 'plugdev' group."
+                    )
+            else:
+                break
+            id += 1
 
         self.create_timer(0.15, self.send_controls)
 
@@ -115,7 +145,7 @@ class Headless(Node):
                 sys.exit(0)
 
         # Check if controller is still connected
-        if pygame.joystick.get_count() == 0:
+        if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
             # Send one last zero control message
             self.core_publisher.publish(CORE_STOP_MSG)
@@ -296,11 +326,34 @@ def deadzone(value: float, threshold=0.05) -> float:
     return value
 
 
+def is_user_in_group(group_name: str) -> bool:
+    # Copied from https://zetcode.com/python/os-getgrouplist/
+    try:
+        username = os.getlogin()
+
+        # Get group ID from name
+        group_info = grp.getgrnam(group_name)
+        target_gid = group_info.gr_gid
+
+        # Get user's groups
+        user_info = pwd.getpwnam(username)
+        user_groups = os.getgrouplist(username, user_info.pw_gid)
+
+        return target_gid in user_groups
+    except KeyError:
+        return False
+
+
 def main(args=None):
-    rclpy.init(args=args)
-    node = Headless()
-    rclpy.spin(node)
-    rclpy.shutdown()
+    try:
+        rclpy.init(args=args)
+
+        node = Headless()
+        rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal. Exiting...")
+    finally:
+        rclpy.shutdown()
 
 
 if __name__ == "__main__":

src/moveit_servo/CMakeLists.txt

@@ -1,26 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(moveit_servo)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()

src/moveit_servo/config/kinematics.yaml

@@ -1,4 +0,0 @@
-panda_arm:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.05

src/moveit_servo/launch/servo.launch.py

@@ -1,25 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from moveit_configs_utils import MoveItConfigsBuilder
-
-def generate_launch_description():
-    moveit_config = (
-        MoveItConfigsBuilder("astra_descriptions")
-        .robot_description(file_path="config/robot.urdf.xacro")
-        .to_moveit_configs()
-    )
-
-    servo_node = Node(
-        package="moveit_servo",
-        executable="servo_node",
-        name="servo_node",
-        parameters=[
-            "config/servo_parameters.yaml",
-            moveit_config.robot_description,
-            moveit_config.robot_description_semantic,
-            moveit_config.robot_description_kinematics,
-        ],
-        output="screen",
-    )
-
-    return LaunchDescription([servo_node])

src/moveit_servo/package.xml

@@ -1,18 +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>moveit_servo</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="aaron.m.davis@comcast.net">aaron</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

src/servo_arm_twist_pkg/CMakeLists.txt

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

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

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

@@ -0,0 +1,271 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, PickNik Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/*      Title     : joystick_servo_example.cpp
+ *      Project   : servo_arm_twist_pkg
+ *      Created   : 08/07/2020
+ *      Author    : Adam Pettinger
+ */
+
+#include <sensor_msgs/msg/joy.hpp>
+#include <geometry_msgs/msg/twist_stamped.hpp>
+#include <control_msgs/msg/joint_jog.hpp>
+#include <std_srvs/srv/trigger.hpp>
+#include <moveit_msgs/msg/planning_scene.hpp>
+#include <rclcpp/client.hpp>
+#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/publisher.hpp>
+#include <rclcpp/qos.hpp>
+#include <rclcpp/qos_event.hpp>
+#include <rclcpp/subscription.hpp>
+#include <rclcpp/time.hpp>
+#include <rclcpp/utilities.hpp>
+#include <thread>
+
+// We'll just set up parameters here
+const std::string JOY_TOPIC = "/joy";
+const std::string TWIST_TOPIC = "/servo_node/delta_twist_cmds";
+const std::string JOINT_TOPIC = "/servo_node/delta_joint_cmds";
+const std::string EEF_FRAME_ID = "End_Effector";
+const std::string BASE_FRAME_ID = "base_link";
+
+// Enums for button names -> axis/button array index
+// For XBOX 1 controller
+enum Axis
+{
+    LEFT_STICK_X = 0,
+    LEFT_STICK_Y = 1,
+    LEFT_TRIGGER = 2,
+    RIGHT_STICK_X = 3,
+    RIGHT_STICK_Y = 4,
+    RIGHT_TRIGGER = 5,
+    D_PAD_X = 6,
+    D_PAD_Y = 7
+};
+enum Button
+{
+    A = 0,
+    B = 1,
+    X = 2,
+    Y = 3,
+    LEFT_BUMPER = 4,
+    RIGHT_BUMPER = 5,
+    CHANGE_VIEW = 6,
+    MENU = 7,
+    HOME = 8,
+    LEFT_STICK_CLICK = 9,
+    RIGHT_STICK_CLICK = 10
+};
+
+// Some axes have offsets (e.g. the default trigger position is 1.0 not 0)
+// This will map the default values for the axes
+std::map<Axis, double> AXIS_DEFAULTS = { { LEFT_TRIGGER, 1.0 }, { RIGHT_TRIGGER, 1.0 } };
+std::map<Button, double> BUTTON_DEFAULTS;
+
+// To change controls or setup a new controller, all you should to do is change the above enums and the follow 2
+// functions
+/** \brief // This converts a joystick axes and buttons array to a TwistStamped or JointJog message
+ * @param axes The vector of continuous controller joystick axes
+ * @param buttons The vector of discrete controller button values
+ * @param twist A TwistStamped message to update in prep for publishing
+ * @param joint A JointJog message to update in prep for publishing
+ * @return return true if you want to publish a Twist, false if you want to publish a JointJog
+ */
+bool convertJoyToCmd(const std::vector<float>& axes, const std::vector<int>& buttons,
+                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist,
+                     std::unique_ptr<control_msgs::msg::JointJog>& joint)
+{
+    // // Give joint jogging priority because it is only buttons
+    // // If any joint jog command is requested, we are only publishing joint commands
+    // if (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, joint_msg))
+        {
+            // publish the TwistStamped
+            twist_msg->header.frame_id = frame_to_publish_;
+            twist_msg->header.stamp = this->now();
+            twist_pub_->publish(std::move(twist_msg));
+        }
+        // else
+        // {
+        //     // publish the JointJog
+        //     joint_msg->header.stamp = this->now();
+        //     joint_msg->header.frame_id = "panda_link3";
+        //     joint_pub_->publish(std::move(joint_msg));
+        // }
+    }
+
+private:
+    rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
+    rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_pub_;
+    rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr joint_pub_;
+    rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr collision_pub_;
+    rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr servo_start_client_;
+
+    std::string frame_to_publish_;
+
+    // std::thread collision_pub_thread_;
+};  // class JoyToServoPub
+
+}  // namespace servo_arm_twist_pkg
+
+// Register the component with class_loader
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(servo_arm_twist_pkg::JoyToServoPub)