feat(core): rate limit motor commands from diff_drive_controller

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

src/anchor_pkg/launch/rover.launch.py

@@ -1,8 +1,10 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, Shutdown
+from launch.actions import DeclareLaunchArgument, Shutdown, IncludeLaunchDescription
 from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
@@ -46,50 +48,24 @@ def generate_launch_description():
         )
     )
 
+    ld.add_action(
+        DeclareLaunchArgument(
+            "use_ros2_control",
+            default_value="false",
+            description="Whether to use DiffDriveController for driving instead of direct Twist",
+        )
+    )
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "rover_platform",
+            default_value="auto",
+            description="Choose the rover platform (either clucky or testbed). If left on auto, will defer to ROVER_PLATFORM environment variable.",
+            choices=["clucky", "testbed", "auto"],
+        )
+    )
+
     # nodes
-    ld.add_action(
-        Node(
-            package="arm_pkg",
-            executable="arm",
-            name="arm",
-            output="both",
-            parameters=[{"launch_mode": "anchor"}],
-            on_exit=Shutdown(),
-        )
-    )
-
-    ld.add_action(
-        Node(
-            package="core_pkg",
-            executable="core",
-            name="core",
-            output="both",
-            parameters=[{"launch_mode": "anchor"}],
-            on_exit=Shutdown(),
-        )
-    )
-
-    ld.add_action(
-        Node(
-            package="core_pkg",
-            executable="ptz",
-            name="ptz",
-            output="both",
-            condition=IfCondition(use_ptz),
-        )
-    )
-
-    ld.add_action(
-        Node(
-            package="bio_pkg",
-            executable="bio",
-            name="bio",
-            output="both",
-            parameters=[{"launch_mode": "anchor"}],
-            on_exit=Shutdown(),
-        )
-    )
-
     ld.add_action(
         Node(
             package="anchor_pkg",
@@ -108,4 +84,91 @@ def generate_launch_description():
         )
     )
 
+    ld.add_action(
+        Node(
+            package="arm_pkg",
+            executable="arm",
+            name="arm",
+            output="both",
+            parameters=[{"launch_mode": "anchor"}],
+            on_exit=Shutdown(),
+        )
+    )
+
+    ld.add_action(
+        Node(
+            package="bio_pkg",
+            executable="bio",
+            name="bio",
+            output="both",
+            parameters=[{"launch_mode": "anchor"}],
+            on_exit=Shutdown(),
+        )
+    )
+
+    ld.add_action(
+        Node(
+            package="core_pkg",
+            executable="core",
+            name="core",
+            output="both",
+            parameters=[
+                {"launch_mode": "anchor"},
+                {
+                    "use_ros2_control": LaunchConfiguration(
+                        "use_ros2_control", default=False
+                    )
+                },
+                {
+                    "rover_platform": LaunchConfiguration(
+                        "rover_platform", default="auto"
+                    )
+                },
+            ],
+            on_exit=Shutdown(),
+        )
+    )
+
+    ld.add_action(
+        Node(
+            package="core_pkg",
+            executable="ptz",
+            name="ptz",
+            output="both",
+            condition=IfCondition(use_ptz),
+        )
+    )
+
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("core_description"),
+                        "launch",
+                        "robot_state_publisher.launch.py",
+                    ]
+                )
+            ),
+            condition=IfCondition(LaunchConfiguration("use_ros2_control")),
+            launch_arguments={("hardware_mode", "physical")},
+        )
+    )
+
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("core_description"),
+                        "launch",
+                        "spawn_controllers.launch.py",
+                    ]
+                )
+            ),
+            condition=IfCondition(LaunchConfiguration("use_ros2_control")),
+            launch_arguments={("hardware_mode", "physical")},
+        )
+    )
+
     return ld

src/anchor_pkg/package.xml

@@ -3,14 +3,20 @@
 <package format="3">
   <name>anchor_pkg</name>
   <version>0.0.0</version>
-  <description>Anchor -- ROS and CAN relay node</description>
+  <description>ASTRA VicCAN driver package, using python-can and pyserial.</description>
   <maintainer email="rjm0037@uah.edu">Riley</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
-  <depend>common_interfaces</depend>
+
-  <depend>python3-serial</depend>
+  <exec_depend>common_interfaces</exec_depend>
-  <depend>python3-can</depend>
+  <exec_depend>python3-serial</exec_depend>
+  <exec_depend>python3-can</exec_depend>
+
+  <exec_depend>core_pkg</exec_depend>
+  <exec_depend>arm_pkg</exec_depend>
+  <exec_depend>bio_pkg</exec_depend>
+  <exec_depend>core_description</exec_depend>
 
   <build_depend>black</build_depend>
 

src/anchor_pkg/setup.cfg

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

src/anchor_pkg/setup.py

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

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,5 +1,4 @@
 import sys
-import threading
 import signal
 import math
 from warnings import deprecated
@@ -13,7 +12,7 @@ from std_msgs.msg import String, Header
 from sensor_msgs.msg import JointState
 from control_msgs.msg import JointJog
 from astra_msgs.msg import SocketFeedback, DigitFeedback, ArmManual  # TODO: Old topics
-from astra_msgs.msg import ArmFeedback, VicCAN, RevMotorState
+from astra_msgs.msg import ArmFeedback, ArmCtrlState, VicCAN, RevMotorState
 
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
@@ -26,8 +25,6 @@ control_qos = qos.QoSProfile(
     # liveliness_lease_duration=Duration(seconds=5),
 )
 
-thread = None
-
 
 class ArmNode(Node):
     """Relay between Anchor and Basestation/Headless/Moveit2 for Arm related topics."""
@@ -115,10 +112,10 @@ class ArmNode(Node):
 
         # Control
 
-        # Manual: /arm/manual/joint_jog is published by Basestation or Headless
+        # Manual: /arm/control/joint_jog is published by Basestation or Headless
         self.man_jointjog_sub_ = self.create_subscription(
             JointJog,
-            "/arm/manual/joint_jog",
+            "/arm/control/joint_jog",
             self.jointjog_callback,
             qos_profile=control_qos,
         )
@@ -129,6 +126,13 @@ class ArmNode(Node):
             self.joint_command_callback,
             qos_profile=control_qos,
         )
+        # State: /arm/control/state is published by Basestation or Headless
+        self.man_state_sub_ = self.create_subscription(
+            ArmCtrlState,
+            "/arm/control/state",
+            self.man_state_callback,
+            qos_profile=control_qos,
+        )
 
         # Feedback
 
@@ -148,9 +152,14 @@ class ArmNode(Node):
 
         # Combined Socket and Digit feedback
         self.arm_feedback_new = ArmFeedback()
+        self.arm_feedback_new.axis0_motor.id = 1
+        self.arm_feedback_new.axis1_motor.id = 2
+        self.arm_feedback_new.axis2_motor.id = 3
+        self.arm_feedback_new.axis3_motor.id = 4
 
         # IK Arm pose
         self.saved_joint_state = JointState()
+        self.saved_joint_state.header.frame_id = "base_link"
         self.saved_joint_state.name = self.all_joint_names
         # ... initialize with zeros
         self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name)
@@ -173,10 +182,54 @@ class ArmNode(Node):
         # Deadzone
         velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities]
 
-        self.send_velocities(velocities, msg.header)
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=39,
+                data=velocities[0:4],
+                header=msg.header,
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit",
+                command_id=39,
+                data=velocities[4:6],
+                header=msg.header,
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="digit",
+                command_id=26,
+                data=[velocities[6]],
+                header=msg.header,
+            )
+        )
 
         # TODO: use msg.duration
 
+    def man_state_callback(self, msg: ArmCtrlState):
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=18,
+                data=[1.0 if msg.brake_mode else 0.0],
+                header=Header(stamp=self.get_clock().now().to_msg()),
+            )
+        )
+
+        self.anchor_tovic_pub_.publish(
+            VicCAN(
+                mcu_name="arm",
+                command_id=34,
+                data=[1.0 if msg.laser else 0.0],
+                header=Header(stamp=self.get_clock().now().to_msg()),
+            )
+        )
+
     def joint_command_callback(self, msg: JointState):
         if len(msg.position) < 7 and len(msg.velocity) < 7:
             self.get_logger().debug("Ignoring malformed /joint_command message.")
@@ -202,12 +255,12 @@ class ArmNode(Node):
 
         # Send Axis 0-3
         self.anchor_tovic_pub_.publish(
-            VicCAN(mcu_name="arm", command_id=43, data=velocities[0:3], header=header)
+            VicCAN(mcu_name="arm", command_id=43, data=velocities[0:4], header=header)
         )
         # Send Wrist yaw and roll
         # TODO: Verify embedded
         self.anchor_tovic_pub_.publish(
-            VicCAN(mcu_name="digit", command_id=43, data=velocities[4:5], header=header)
+            VicCAN(mcu_name="digit", command_id=43, data=velocities[4:6], header=header)
         )
         # Send End Effector Gripper
         # TODO: Verify m/s received correctly by embedded
@@ -290,6 +343,8 @@ class ArmNode(Node):
                 )
                 return
 
+        self.arm_feedback_new.header.stamp = msg.header.stamp
+
         match msg.command_id:
             case 53:  # REV SPARK MAX feedback
                 motorId = round(msg.data[0])
@@ -376,11 +431,14 @@ class ArmNode(Node):
                 )
                 return
 
+        self.arm_feedback_new.header.stamp = msg.header.stamp
+
         match msg.command_id:
             case 54:  # Board voltages
                 self.arm_feedback_new.digit_voltage.vbatt = float(msg.data[0]) / 100.0
                 self.arm_feedback_new.digit_voltage.v12 = float(msg.data[1]) / 100.0
                 self.arm_feedback_new.digit_voltage.v5 = float(msg.data[2]) / 100.0
+                self.arm_feedback_new.digit_voltage.header.stamp = msg.header.stamp
             case 55:  # Arm joint positions
                 self.saved_joint_state.position[4] = math.radians(
                     msg.data[0]

src/arm_pkg/package.xml

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

src/arm_pkg/setup.py

@@ -12,9 +12,9 @@ setup(
     ],
     install_requires=["setuptools"],
     zip_safe=True,
-    maintainer="David",
+    maintainer="David Sharpe",
     maintainer_email="ds0196@uah.edu",
-    description="Relays topics related to the arm between VicCAN (through Anchor) and basestation.",
+    description="Relays topics related to Arm between VicCAN (through Anchor) and basestation.",
     license="AGPL-3.0-only",
     entry_points={
         "console_scripts": ["arm = arm_pkg.arm_node:main"],

src/bio_pkg/package.xml

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

src/bio_pkg/setup.cfg

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

src/bio_pkg/setup.py

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

src/core_pkg/core_pkg/core_headless.py

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

src/core_pkg/core_pkg/core_node.py

@@ -1,20 +1,16 @@
-import rclpy
-from rclpy.node import Node
-from rclpy import qos
-from rclpy.duration import Duration
-from std_srvs.srv import Empty
-
-import signal
-import time
-import atexit
-
-import serial
-import os
 import sys
-import threading
+import signal
-import glob
+from typing import Literal, cast
 from scipy.spatial.transform import Rotation
 from math import copysign, pi
+from warnings import deprecated
+from os import getenv
+
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
+from rclpy import qos
+from rclpy.duration import Duration
 
 from std_msgs.msg import String, Header
 from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus, JointState
@@ -23,12 +19,14 @@ from astra_msgs.msg import CoreControl, CoreFeedback, RevMotorState
 from astra_msgs.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
 
 
-serial_pub = None
-thread = None
-
 CORE_WHEELBASE = 0.836  # meters
 CORE_WHEEL_RADIUS = 0.171  # meters
-CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
+CORE_GEAR_RATIO = 100.0  # Clucky: 100:1
+
+# TODO: update core_description or add testbed_description
+TESTBED_WHEELBASE = 0.368  # meters
+TESTBED_WHEEL_RADIUS = 0.108  # meters
+TESTBED_GEAR_RATIO = 64  # Testbed: 64:1
 
 control_qos = qos.QoSProfile(
     history=qos.QoSHistoryPolicy.KEEP_LAST,
@@ -41,207 +39,183 @@ control_qos = qos.QoSProfile(
     # liveliness_lease_duration=Duration(seconds=5),
 )
 
-# Used to verify the length of an incoming VicCAN feedback message
-# Key is VicCAN command_id, value is expected length of data list
-viccan_msg_len_dict = {
-    48: 1,
-    49: 1,
-    50: 2,
-    51: 4,
-    52: 4,
-    53: 4,
-    54: 4,
-    56: 4,  # really 3, but viccan
-    58: 4,  # ditto
-}
 
+class CoreNode(Node):
+    """Relay between Anchor and Basestation/Headless/Moveit2 for Core related topics."""
+
+    # Used to verify the length of an incoming VicCAN feedback message
+    # Key is VicCAN command_id, value is expected length of data list
+    viccan_msg_len_dict = {
+        48: 1,
+        49: 1,
+        50: 2,
+        51: 4,
+        52: 4,
+        53: 4,
+        54: 4,
+        56: 4,  # really 3, but viccan
+        58: 4,  # ditto
+    }
+    rover_platform: Literal["clucky", "testbed"]
 
-class SerialRelay(Node):
     def __init__(self):
-        # Initalize node with name
         super().__init__("core_node")
 
-        # Launch mode -- anchor vs core
+        self.get_logger().info(f"core launch_mode is: anchor")
-        self.declare_parameter("launch_mode", "core")
-        self.launch_mode = self.get_parameter("launch_mode").value
-        self.get_logger().info(f"Core launch_mode is: {self.launch_mode}")
 
         ##################################################
-        # Topics
+        # Parameters
+
+        self.declare_parameter("use_ros2_control", False)
+        self.use_ros2_control = (
+            self.get_parameter("use_ros2_control").get_parameter_value().bool_value
+        )
+
+        self.declare_parameter("rover_platform", "auto")
+        rover_platform = (
+            self.get_parameter("rover_platform").get_parameter_value().string_value
+        )
+        if rover_platform == "auto":
+            self.get_logger().info(
+                "rover_platform parameter is unset, falling back to environment variable"
+            )
+            rover_platform = getenv("ROVER_PLATFORM", "clucky").lower()
+        # Verify rover_platform value is valid
+        if rover_platform not in ("clucky", "testbed"):
+            raise ValueError("rover platform must be either 'clucky' or 'testbed'.")
+        else:
+            self.rover_platform = cast(Literal["clucky", "testbed"], rover_platform)
+
+        if self.rover_platform == "testbed":
+            global TESTBED_WHEELBASE, TESTBED_WHEEL_RADIUS, TESTBED_GEAR_RATIO
+            self.wheelbase = TESTBED_WHEELBASE
+            self.wheel_radius = TESTBED_WHEEL_RADIUS
+            self.gear_ratio = TESTBED_GEAR_RATIO
+        else:  # default in case of unset or invalid environment variable
+            global CORE_WHEELBASE, CORE_WHEEL_RADIUS, CORE_GEAR_RATIO
+            self.wheelbase = CORE_WHEELBASE
+            self.wheel_radius = CORE_WHEEL_RADIUS
+            self.gear_ratio = CORE_GEAR_RATIO
+
+        ##################################################
+        # Old Topics
+
+        self.anchor_sub = self.create_subscription(
+            String, "/anchor/core/feedback", self.anchor_feedback, 10
+        )
+        self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
+
+        if not self.use_ros2_control:
+            # /core/control
+            self.control_sub = self.create_subscription(
+                CoreControl, "/core/control", self.send_controls, 10
+            )  # old control method -- left_stick, right_stick, max_speed, brake, and some other random autonomy stuff
+        # /core/feedback
+        self.feedback_pub = self.create_publisher(CoreFeedback, "/core/feedback", 10)
+        self.core_feedback = CoreFeedback()
+
+        self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback)
+
+        ##################################################
+        # New Topics
 
         # Anchor
-        if self.launch_mode == "anchor":
-            self.anchor_fromvic_sub_ = self.create_subscription(
-                VicCAN, "/anchor/from_vic/core", self.relay_fromvic, 20
-            )
-            self.anchor_tovic_pub_ = self.create_publisher(
-                VicCAN, "/anchor/to_vic/relay", 20
-            )
 
-            self.anchor_sub = self.create_subscription(
+        self.anchor_fromvic_sub_ = self.create_subscription(
-                String, "/anchor/core/feedback", self.anchor_feedback, 10
+            VicCAN, "/anchor/from_vic/core", self.relay_fromvic, 20
-            )
+        )
-            self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
+        self.anchor_tovic_pub_ = self.create_publisher(
+            VicCAN, "/anchor/to_vic/relay", 20
+        )
 
         # Control
 
-        # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
+        if self.use_ros2_control:
-        self.cmd_vel_sub_ = self.create_subscription(
+            # Joint state control for topic-based controller
-            TwistStamped, "/cmd_vel", self.cmd_vel_callback, 1
+            self.joint_command_sub_ = self.create_subscription(
-        )
+                JointState, "/core/joint_commands", self.joint_command_callback, 2
-        # manual twist -- [-1, 1] rather than real units
+            )
-        self.twist_man_sub_ = self.create_subscription(
+        else:
-            Twist, "/core/twist", self.twist_man_callback, qos_profile=control_qos
+            # manual twist -- [-1, 1] rather than real units
-        )
+            # TODO: change topic to '/core/control/twist'
-        # manual flags -- brake mode and max duty cycle
+            self.twist_man_sub_ = self.create_subscription(
-        self.control_state_sub_ = self.create_subscription(
+                Twist, "/core/twist", self.twist_man_callback, qos_profile=control_qos
-            CoreCtrlState,
+            )
-            "/core/control/state",
+            # manual flags -- brake mode and max duty cycle
-            self.control_state_callback,
+            self.control_state_sub_ = self.create_subscription(
-            qos_profile=control_qos,
+                CoreCtrlState,
-        )
+                "/core/control/state",
-        self.twist_max_duty = (
+                self.control_state_callback,
-            0.5  # max duty cycle for twist commands (0.0 - 1.0); walking speed is 0.5
+                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
 
-        # Consolidated and organized core feedback
+        # Consolidated and organized main core feedback
+        # TODO: change topic to something like '/core/feedback/main'
         self.feedback_new_pub_ = self.create_publisher(
             NewCoreFeedback,
             "/core/feedback_new",
             qos_profile=qos.qos_profile_sensor_data,
         )
+
+        # Joint states for topic-based controller
+        self.joint_state_pub_ = self.create_publisher(
+            JointState, "/joint_states", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        # IMU (embedded BNO-055)
+        self.imu_pub_ = self.create_publisher(
+            Imu, "/core/imu", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        # GPS (embedded u-blox M9N)
+        self.gps_pub_ = self.create_publisher(
+            NavSatFix, "/gps/fix", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        # Barometer (embedded BMP-388)
+        self.baro_pub_ = self.create_publisher(
+            Barometer, "/core/feedback/baro", qos_profile=qos.qos_profile_sensor_data
+        )
+
+        ###################################################
+        # Timers
+
+        if self.use_ros2_control:
+            self.vel_cmd_timer_ = self.create_timer(0.1, self.vel_cmd_timer_callback)
+
+        ###################################################
+        # Saved state
+
+        # Controls
+        self._last_joint_command_time = self.get_clock().now()
+        self._last_joint_command_msg = JointState()
+
+        # Main Core feedback
         self.feedback_new_state = NewCoreFeedback()
         self.feedback_new_state.fl_motor.id = 1
         self.feedback_new_state.bl_motor.id = 2
         self.feedback_new_state.fr_motor.id = 3
         self.feedback_new_state.br_motor.id = 4
-        self.telemetry_pub_timer = self.create_timer(
+
-            1.0, self.publish_feedback
+        # IMU
-        )  # TODO: not sure about this
-        # Joint states for topic-based controller
-        self.joint_state_pub_ = self.create_publisher(
-            JointState, "/core/joint_states", qos_profile=qos.qos_profile_sensor_data
-        )
-        # IMU (embedded BNO-055)
-        self.imu_pub_ = self.create_publisher(
-            Imu, "/core/imu", qos_profile=qos.qos_profile_sensor_data
-        )
         self.imu_state = Imu()
         self.imu_state.header.frame_id = "core_bno055"
-        # GPS (embedded u-blox M9N)
+
-        self.gps_pub_ = self.create_publisher(
+        # GPS
-            NavSatFix, "/gps/fix", qos_profile=qos.qos_profile_sensor_data
-        )
         self.gps_state = NavSatFix()
         self.gps_state.header.frame_id = "core_gps_antenna"
         self.gps_state.status.service = NavSatStatus.SERVICE_GPS
         self.gps_state.status.status = NavSatStatus.STATUS_NO_FIX
         self.gps_state.position_covariance_type = NavSatFix.COVARIANCE_TYPE_UNKNOWN
-        # Barometer (embedded BMP-388)
+
-        self.baro_pub_ = self.create_publisher(
+        # Barometer
-            Barometer, "/core/baro", qos_profile=qos.qos_profile_sensor_data
-        )
         self.baro_state = Barometer()
         self.baro_state.header.frame_id = "core_bmp388"
 
-        # Old
+    @deprecated("Uses an old message type. Will be removed at some point.")
-
-        # /core/control
-        self.control_sub = self.create_subscription(
-            CoreControl, "/core/control", self.send_controls, 10
-        )  # old control method -- left_stick, right_stick, max_speed, brake, and some other random autonomy stuff
-        # /core/feedback
-        self.feedback_pub = self.create_publisher(CoreFeedback, "/core/feedback", 10)
-        self.core_feedback = CoreFeedback()
-        # Debug
-        self.debug_pub = self.create_publisher(String, "/core/debug", 10)
-        self.ping_service = self.create_service(
-            Empty, "/astra/core/ping", self.ping_callback
-        )
-
-        ##################################################
-        # Find microcontroller (Non-anchor only)
-
-        # Core (non-anchor) specific
-        if self.launch_mode == "core":
-            # Loop through all serial devices on the computer to check for the MCU
-            self.port = None
-            ports = SerialRelay.list_serial_ports()
-            for i in range(2):
-                for port in ports:
-                    try:
-                        # connect and send a ping command
-                        ser = serial.Serial(port, 115200, timeout=1)
-                        # (f"Checking port {port}...")
-                        ser.write(b"ping\n")
-                        response = ser.read_until("\n")  # type: ignore
-
-                        # if pong is in response, then we are talking with the MCU
-                        if b"pong" in response:
-                            self.port = port
-                            self.get_logger().info(f"Found MCU at {self.port}!")
-                            self.get_logger().info(f"Enabling Relay Mode")
-                            ser.write(b"can_relay_mode,on\n")
-                            break
-                    except:
-                        pass
-                if self.port is not None:
-                    break
-
-            if self.port is None:
-                self.get_logger().info("Unable to find MCU...")
-                time.sleep(1)
-                sys.exit(1)
-
-            self.ser = serial.Serial(self.port, 115200)
-            atexit.register(self.cleanup)
-        # end __init__()
-
-    def run(self):
-        # This thread makes all the update processes run in the background
-        global thread
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-        thread.start()
-
-        try:
-            while rclpy.ok():
-                if self.launch_mode == "core":
-                    self.read_MCU()  # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def read_MCU(self):  # NON-ANCHOR SPECIFIC
-        try:
-            output = str(self.ser.readline(), "utf8")
-
-            if output:
-                # All output over debug temporarily
-                print(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                return
-        except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            sys.exit(1)
-        except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            sys.exit(1)
-        except Exception as e:
-            print(f"Exception: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            sys.exit(1)
-
     def scale_duty(self, value: float, max_speed: float):
         leftMin = -1
         leftMax = 1
@@ -258,6 +232,7 @@ class SerialRelay(Node):
         # Convert the 0-1 range into a value in the right range.
         return str(rightMin + (valueScaled * rightSpan))
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_controls(self, msg: CoreControl):
         if msg.turn_to_enable:
             command = (
@@ -283,17 +258,57 @@ class SerialRelay(Node):
 
         # print(f"[Sys] Relaying: {command}")
 
-    def cmd_vel_callback(self, msg: TwistStamped):
+    def joint_command_callback(self, msg: JointState):
-        linear = msg.twist.linear.x
+        # So... topic based control node publishes JointState messages over /joint_commands
-        angular = -msg.twist.angular.z
+        #  with len(msg.name) == 5 and len(msg.velocity) == 4... all 5 non-fixed joints
+        #  are included in msg.name, but ig it is implied that msg.velocity only
+        #  includes velocities for the commanded joints (ros__parameters.joints).
+        # So, this will be much more hacky and less adaptable than I would like it to be.
+        if (
+            len(msg.name) != (4 if self.rover_platform == "testbed" else 5)
+            or len(msg.velocity) != 4
+            or len(msg.position) != 0
+        ):
+            self.get_logger().warning(
+                f"Received joint control message with unexpected number of joints. Ignoring."
+            )
+            return
+        if msg.name[-4:] != [  # type: ignore
+            "bl_wheel_joint",
+            "br_wheel_joint",
+            "fl_wheel_joint",
+            "fr_wheel_joint",
+        ]:
+            self.get_logger().warning(
+                f"Received joint control message with unexpected name[]. Ignoring."
+            )
+            return
 
-        vel_left_rads = (linear - (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
+        # A 10 Hz timer callback actually sends these commands to Core for rate limiting
-        vel_right_rads = (linear + (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
+        # These come from ros2_control at 50 Hz
+        self._last_joint_command_time = self.get_clock().now()
+        self._last_joint_command_msg = msg
 
-        vel_left_rpm = round((vel_left_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
+    def vel_cmd_timer_callback(self):
-        vel_right_rpm = round((vel_right_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
+        # Safety timeout for diff_drive_controller commands via topic_based_ros2_control.
+        # It is safe to send stop command here because if self.use_ros2_control,
+        # then this is the only callback that is controlling Core's motors.
+        if self.get_clock().now() - self._last_joint_command_time > Duration(
+            nanoseconds=int(1e8)  # 100ms
+        ):
+            self.send_viccan(20, [0.0, 0.0, 0.0, 0.0])
+            return
 
-        self.send_viccan(20, [vel_left_rpm, vel_right_rpm])
+        # This order is verified by the subscription callback
+        (bl_vel, br_vel, fl_vel, fr_vel) = self._last_joint_command_msg.velocity
+
+        # Convert wheel rad/s to motor RPM
+        bl_rpm = radps_to_rpm(bl_vel) * self.gear_ratio
+        br_rpm = radps_to_rpm(br_vel) * self.gear_ratio
+        fl_rpm = radps_to_rpm(fl_vel) * self.gear_ratio
+        fr_rpm = radps_to_rpm(fr_vel) * self.gear_ratio
+
+        self.send_viccan(20, [fl_rpm, bl_rpm, fr_rpm, br_rpm])  # REV Velocity
 
     def twist_man_callback(self, msg: Twist):
         linear = msg.linear.x  # [-1 1] for forward/back from left stick y
@@ -334,15 +349,9 @@ class SerialRelay(Node):
         # Max duty cycle
         self.twist_max_duty = msg.max_duty  # twist_man_callback will handle this
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def send_cmd(self, msg: str):
-        if self.launch_mode == "anchor":
+        self.anchor_pub.publish(String(data=msg))  # Publish to anchor for relay
-            # self.get_logger().info(f"[Core to Anchor Relay] {msg}")
-            output = String()  # Convert to std_msg string
-            output.data = msg
-            self.anchor_pub.publish(output)
-        elif self.launch_mode == "core":
-            self.get_logger().info(f"[Core to MCU] {msg}")
-            self.ser.write(bytes(msg, "utf8"))
 
     def send_viccan(self, cmd_id: int, data: list[float]):
         self.anchor_tovic_pub_.publish(
@@ -354,6 +363,7 @@ class SerialRelay(Node):
             )
         )
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def anchor_feedback(self, msg: String):
         output = msg.data
         parts = str(output.strip()).split(",")
@@ -423,14 +433,16 @@ class SerialRelay(Node):
         # skill diff if not
 
         # Check message len to prevent crashing on bad data
-        if msg.command_id in viccan_msg_len_dict:
+        if msg.command_id in self.viccan_msg_len_dict:
-            expected_len = viccan_msg_len_dict[msg.command_id]
+            expected_len = self.viccan_msg_len_dict[msg.command_id]
             if len(msg.data) != expected_len:
                 self.get_logger().warning(
                     f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})"
                 )
                 return
 
+        self.feedback_new_state.header.stamp = msg.header.stamp
+
         match msg.command_id:
             # GNSS
             case 48:  # GNSS Latitude
@@ -457,6 +469,7 @@ class SerialRelay(Node):
                 self.imu_state.linear_acceleration.x = float(msg.data[0])
                 self.imu_state.linear_acceleration.y = float(msg.data[1])
                 self.imu_state.linear_acceleration.z = float(msg.data[2])
+                self.feedback_new_state.orientation = float(msg.data[3])
                 # Deal with quaternion
                 r = Rotation.from_euler("z", float(msg.data[3]), degrees=True)
                 q = r.as_quat()
@@ -501,6 +514,7 @@ class SerialRelay(Node):
                 self.feedback_new_state.board_voltage.v12 = float(msg.data[1]) / 100.0
                 self.feedback_new_state.board_voltage.v5 = float(msg.data[2]) / 100.0
                 self.feedback_new_state.board_voltage.v3 = float(msg.data[3]) / 100.0
+                self.feedback_new_state.board_voltage.header.stamp = msg.header.stamp
             # Baro
             case 56:  # BMP temperature, altitude, pressure
                 self.baro_state.temperature = float(msg.data[0])
@@ -513,14 +527,12 @@ class SerialRelay(Node):
                 motorId = round(float(msg.data[0]))
                 position = float(msg.data[1])
                 velocity = float(msg.data[2])
-                joint_state_msg = (
+                joint_state_msg = JointState()
-                    JointState()
-                )  # TODO: not sure if all motors should be in each message or not
                 joint_state_msg.position = [
-                    position * (2 * pi) / CORE_GEAR_RATIO
+                    position * (2 * pi) / self.gear_ratio
                 ]  # revolutions to radians
                 joint_state_msg.velocity = [
-                    velocity * (2 * pi / 60.0) / CORE_GEAR_RATIO
+                    velocity * (2 * pi / 60.0) / self.gear_ratio
                 ]  # RPM to rad/s
 
                 motor: RevMotorState | None = None
@@ -528,52 +540,42 @@ class SerialRelay(Node):
                 match motorId:
                     case 1:
                         motor = self.feedback_new_state.fl_motor
-                        joint_state_msg.name = ["fl_motor_joint"]
+                        joint_state_msg.name = ["fl_wheel_joint"]
                     case 2:
                         motor = self.feedback_new_state.bl_motor
-                        joint_state_msg.name = ["bl_motor_joint"]
+                        joint_state_msg.name = ["bl_wheel_joint"]
                     case 3:
                         motor = self.feedback_new_state.fr_motor
-                        joint_state_msg.name = ["fr_motor_joint"]
+                        joint_state_msg.name = ["fr_wheel_joint"]
                     case 4:
                         motor = self.feedback_new_state.br_motor
-                        joint_state_msg.name = ["br_motor_joint"]
+                        joint_state_msg.name = ["br_wheel_joint"]
                     case _:
                         self.get_logger().warning(
                             f"Ignoring REV motor feedback 58 with invalid motorId {motorId}"
                         )
                         return
 
+                if motor:
+                    motor.position = position
+                    motor.velocity = velocity
+
+                # make the fucking shit work
+                if self.rover_platform == "clucky":
+                    joint_state_msg.name.append("left_suspension_joint")
+                    joint_state_msg.position.append(0.0)
+                    joint_state_msg.velocity.append(0.0)
+
                 joint_state_msg.header.stamp = msg.header.stamp
                 self.joint_state_pub_.publish(joint_state_msg)
             case _:
                 return
 
+    @deprecated("Uses an old message type. Will be removed at some point.")
     def publish_feedback(self):
         # self.get_logger().info(f"[Core] {self.core_feedback}")
         self.feedback_pub.publish(self.core_feedback)
 
-    def ping_callback(self, request, response):
-        return response
-
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-
-    def cleanup(self):
-        print("Cleaning up before terminating...")
-        try:
-            if self.ser.is_open:
-                self.ser.close()
-        except Exception as e:
-            exit(0)
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
-
 
 def map_range(
     value: float, in_min: float, in_max: float, out_min: float, out_max: float
@@ -581,19 +583,31 @@ def map_range(
     return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 
 
+def radps_to_rpm(radps: float):
+    return radps * 60 / (2 * pi)
+
+
+def exit_handler(signum, frame):
+    print("Caught SIGTERM. Exiting...")
+    rclpy.try_shutdown()
+    sys.exit(0)
+
+
 def main(args=None):
     rclpy.init(args=args)
-    sys.excepthook = myexcepthook
 
-    global serial_pub
+    # Catch termination signals and exit cleanly
+    signal.signal(signal.SIGTERM, exit_handler)
 
-    serial_pub = SerialRelay()
+    core_node = CoreNode()
-    serial_pub.run()
+
+    try:
+        rclpy.spin(core_node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
-    # signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
-    signal.signal(
-        signal.SIGTERM, lambda signum, frame: sys.exit(0)
-    )  # Catch termination signals and exit cleanly
     main()

src/core_pkg/package.xml

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

src/core_pkg/setup.cfg

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

src/core_pkg/setup.py

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

src/headless_pkg/package.xml

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

src/headless_pkg/setup.cfg

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

src/headless_pkg/setup.py

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

src/headless_pkg/src/headless_node.py

@@ -18,7 +18,7 @@ from std_msgs.msg import Header
 from geometry_msgs.msg import Twist, TwistStamped
 from control_msgs.msg import JointJog
 from astra_msgs.msg import CoreControl, ArmManual, BioControl
-from astra_msgs.msg import CoreCtrlState
+from astra_msgs.msg import CoreCtrlState, ArmCtrlState
 
 import warnings
 
@@ -138,6 +138,11 @@ class Headless(Node):
             self.get_parameter("use_old_topics").get_parameter_value().bool_value
         )
 
+        self.declare_parameter("use_cmd_vel", False)
+        self.use_cmd_vel = (
+            self.get_parameter("use_cmd_vel").get_parameter_value().bool_value
+        )
+
         self.declare_parameter("use_bio", False)
         self.use_bio = self.get_parameter("use_bio").get_parameter_value().bool_value
 
@@ -145,7 +150,6 @@ class Headless(Node):
         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 = (
@@ -155,6 +159,13 @@ class Headless(Node):
         )
 
         # Check parameter validity
+        if self.use_cmd_vel:
+            self.get_logger().info("Using cmd_vel for core control")
+            global CORE_MODE
+            CORE_MODE = "twist"
+        else:
+            self.get_logger().info("Using astra_msgs/CoreControl for core control")
+
         if self.use_arm_ik and self.use_old_topics:
             self.get_logger().fatal("Old topics do not support arm IK control.")
             sys.exit(1)
@@ -166,6 +177,8 @@ class Headless(Node):
         self.ctrl_mode = "core"  # Start in core mode
         self.core_brake_mode = False
         self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+        self.arm_brake_mode = False
+        self.arm_laser = False
 
         ##################################################
         # Old Topics
@@ -184,12 +197,18 @@ class Headless(Node):
             self.core_twist_pub_ = self.create_publisher(
                 Twist, "/core/twist", qos_profile=control_qos
             )
+            self.core_cmd_vel_pub_ = self.create_publisher(
+                TwistStamped, "/diff_controller/cmd_vel", qos_profile=control_qos
+            )
             self.core_state_pub_ = self.create_publisher(
                 CoreCtrlState, "/core/control/state", qos_profile=control_qos
             )
 
             self.arm_manual_pub_ = self.create_publisher(
-                JointJog, "/arm/manual_new", qos_profile=control_qos
+                JointJog, "/arm/control/joint_jog", qos_profile=control_qos
+            )
+            self.arm_state_pub_ = self.create_publisher(
+                ArmCtrlState, "/arm/control/state", qos_profile=control_qos
             )
 
             self.arm_ik_twist_publisher = self.create_publisher(
@@ -231,13 +250,19 @@ class Headless(Node):
         # Rumble when node is ready (returns False if rumble not supported)
         self.gamepad.rumble(0.7, 0.8, 150)
 
+        # Added so you can tell when it starts running after changing the constant logging to debug from info
+        self.get_logger().info("Defaulting to Core mode. Ready.")
+
     def stop_all(self):
         if self.use_old_topics:
             self.core_publisher.publish(CORE_STOP_MSG)
             self.arm_publisher.publish(ARM_STOP_MSG)
             self.bio_publisher.publish(BIO_STOP_MSG)
         else:
-            self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
+            if self.use_cmd_vel:
+                self.core_cmd_vel_pub_.publish(self.core_cmd_vel_stop_msg())
+            else:
+                self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
             if self.use_arm_ik:
                 self.arm_ik_twist_publisher.publish(self.arm_ik_twist_stop_msg())
             else:
@@ -332,18 +357,32 @@ class Headless(Node):
             self.core_publisher.publish(input)
 
         else:  # New topics
-            input = Twist()
+            twist = Twist()
 
             # Forward/back and Turn
-            input.linear.x = -1.0 * left_stick_y
+            twist.linear.x = -1.0 * left_stick_y
-            input.angular.z = -1.0 * copysign(
+            twist.angular.z = -1.0 * copysign(
                 right_stick_x**2, right_stick_x
             )  # Exponent for finer control (curve)
 
+            # This kinda looks dumb being seperate from the following block, but this
+            # maintains the separation between modifying the control message and sending it.
+            if self.use_cmd_vel:
+                # These scaling factors convert raw stick inputs to absolute m/s and rad/s
+                # values that DiffDriveController will convert to motor RPM, rather than
+                # the plain Twist, which just sends the stick values as duty cycle and
+                # sends that scaled to the motors.
+                twist.linear.x *= 1.0
+                twist.angular.z *= 1.5
+
             # Publish
-            self.core_twist_pub_.publish(input)
+            if self.use_cmd_vel:
-            self.get_logger().info(
+                header = Header(stamp=self.get_clock().now().to_msg())
-                f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}"
+                self.core_cmd_vel_pub_.publish(TwistStamped(header=header, twist=twist))
+            else:
+                self.core_twist_pub_.publish(twist)
+            self.get_logger().debug(
+                f"[Core Ctrl] Linear: {round(twist.linear.x, 2)}, Angular: {round(twist.angular.z, 2)}"
             )
 
             # Brake mode
@@ -552,13 +591,26 @@ class Headless(Node):
             )
 
             # A: brake
-            # TODO: Brake mode
+            new_brake_mode = button_a
 
-            # Y: linear actuator
+            # X: laser
-            # TODO: linear actuator
+            new_laser = button_x
 
             self.arm_manual_pub_.publish(arm_input)
 
+            # Only publish state if needed
+            if new_brake_mode != self.arm_brake_mode or new_laser != self.arm_laser:
+                self.arm_brake_mode = new_brake_mode
+                self.arm_laser = new_laser
+                state_msg = ArmCtrlState()
+                state_msg.brake_mode = bool(self.arm_brake_mode)
+                state_msg.laser = bool(self.arm_laser)
+
+                self.arm_state_pub_.publish(state_msg)
+                self.get_logger().info(
+                    f"[Arm State] Brake: {self.arm_brake_mode}, Laser: {self.arm_laser}"
+                )
+
         # IK (ONLY NEW)
         # =============
 
@@ -643,6 +695,11 @@ class Headless(Node):
         else:
             pass  # TODO: implement new bio control topics
 
+    def core_cmd_vel_stop_msg(self):
+        return TwistStamped(
+            header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg())
+        )
+
     def arm_manual_stop_msg(self):
         return JointJog(
             header=Header(frame_id="base_link", stamp=self.get_clock().now().to_msg()),