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berkeleyauv / robosub_ws

All the code used to compete in the Robosub competition
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Implement keyboard/joystick teleop #19

Closed himty closed 3 years ago

himty commented 4 years ago

Implement teleop_twist_keyboard ROS package

caelinsutch commented 3 years ago

Do after #53

caelinsutch commented 3 years ago

@AVSurfer123 What controller do we want to be able to use? I can setup for a xbox controller by default if that works. I'm creating a new file called joy_handler that takes in the /joy node and converts that to a Twist message. @Michael-Equi is this bad practice? Let me know what you think about it

AVSurfer123 commented 3 years ago

For now just keyboard is needed. You can add xbox controller support too but I don't have one so I can't use it. And yea I'm not sure whether we need an intermediary /joy topic instead of having the node directly publish joystick commands to /sub/cmd_vel

AVSurfer123 commented 3 years ago

actually we do need it so that we can programatically choose either joystick or auton control

Michael-Equi commented 3 years ago

There are existing packages that do all of this stuff for you such as https://index.ros.org/p/teleop_twist_joy/github-ros2-teleop_twist_joy/#foxy

Michael-Equi commented 3 years ago

and https://github.com/ros2/teleop_twist_keyboard

caelinsutch commented 3 years ago

@AVSurfer123 I'm probably just going to put the teleop_twist_joy package into the launch file w the velocity controller if that works.

caelinsutch commented 3 years ago

I know I've been lagging on this, other club work has been destroying me. I'm gonna integrate this today.

AVSurfer123 commented 3 years ago

Closed in berkeleyauv/controls