RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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Feat/remote coms #44

Closed a-stickan closed 2 years ago

a-stickan commented 2 years ago

Description

This PR does the following:

Adds a rosbridge websocket
Adds a rosapi node for Foxglove Studio compatibility
Adds a ROS web interface for remote controller/joystick control

Fixes #42, #43, #24

Testing steps

Launch rosbridge with ros2 launch urc_teleop websocket.launch.py
Launch the web interface with python3 -m http.server in urc_teleop/gui
Launch the simulation with ros2 launch urc_gazebo simulation.launch.py
Connect Foxglove Studio to the rosbridge websocket at ws://localhost:9090
Navigate to the interface in a web browser at http://127.0.0.1:8000
Connect a USB game controller
Navigate the rover with your controller

Expectations:

No build errors
Able to view live video feed in Foxglove Studio
Able to connect controller to the web interface
Able to pilot the rover from the web interface

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works

AR2100 commented 2 years ago

I followed steps 1-4 and 6 (I haven't insallted Foxglove studio yet) and moved the joystick around. I assume the webserver is supposed to be publishing to /joy, but ros2 topic echo /joy isn't printing anything and rosbridge is throwing this error:

[rosbridge_websocket.py-1] [ERROR] [1657909217.991015537] [rosbridge_server]: [Client 9dcf9a7f-fb31-45cd-8ad4-eccf7deb3e9b] [id: publish:/joy:17505] publish: The 'axes' field must be a set or sequence and each value of type 'float' and each float in [-340282299999999994960115009090224128000.000000, 340282299999999994960115009090224128000.000000]