Feature/gamepad mode

[hello-fazil]

This PR introduces the new gamepad mode to the stretch driver

Gamepad mode enables the provided gamepad with stretch to control the robot's motions with ros2 Stretch Driver. If the gamepad USB dongle is plugged out, the robot will stop making any motions in this mode and can be plugged back in real-time. Activate Gamepad Mode by calling the /switch_to_gamepad_mode service when the stretch driver is running.

Alternatively, in this mode, stretch driver also listens to /gamepad_joy topic for a valid Joy-type message from a remote gamepad to control stretch remotely in the network. The Joy message formats and helper functions are provided in the gamepad_conversion.py

Added the remote_gamepad.py which allows a user to plug-in the provided gamepad USB dongle to a remote workstation in network and teleop the robot remotely through ROS2.

Remote Gamepad Teleop

• First on the robot side start Stretch Driver in gamepad mode

  ros2 launch stretch_core stretch_driver.launch.py mode:=gamepad

• Install Strech Core and Stretch Body package in the remote PC
• Plug in the Gamepad Dongle to remote PC
• Start remote_gamepad.py node in the remote PC

  ros2 run stretch_core remote_gameoad.py

Published topics

• /stretch_gamepad_state: Gamepad Joystick states
• /is_gamepad_dongle: Check if the gamepad dongle is present in the robot

Joy Message Reference Index Table

Axes

Index	Gamepad Button Name	Stretch motion Description	Float Data range	Default
0	left_stick_x	Base Rotational speed	-1 to +1	0
1	left_stick_y	Base Linear speed	-1 to +1	0
2	right_stick_x	Arm Linear speed	-1 to +1	0
3	right_stick_y	Lift Linear speed	-1 to +1	0
4	left_trigger_pulled	Precision mode (if v>0.9)	0 to +1	0
5	right_trigger_pulled	Fast Navigation mode (if v>0.9 and lift,arm is in stow pos)	0 to +1	0

Buttons

Index	Gamepad Button Name	Stretch motion Description	Integer Data holding	Default
0	left_stick_button_pressed	Un-Assigned	0 or 1	0
1	right_stick_button_pressed	Un-Assigned	0 or 1	0
2	bottom_button_pressed (A)	Gripper Close	0 or 1	0
3	right_button_pressed (B)	Gripper Open	0 or 1	0
4	left_button_pressed (X)	Switch between Dex/Head	0 or 1	0
5	top_button_pressed (Y)	Stow robot	0 or 1	0
6	left_shoulder_button_pressed	Wrist_Yaw CCW rotate	0 or 1	0
7	right_shoulder_button_pressed	Wrist_Yaw CW rotate	0 or 1	0
8	select_button_pressed (back)	Long-press Shutdown	0 or 1	0
9	start_button_pressed (start)	Home robot if not calibrated	0 or 1	0
10	bottom_pad_pressed (down)	Wrist_Pitch / Head_Tilt CW rotate	0 or 1	0
11	top_pad_pressed (up)	Wrist_Pitch / Head_Tilt CCW rotate	0 or 1	0
12	left_pad_pressed (left)	Wrist_Roll / Head_Pan CW rotate	0 or 1	0
13	right_pad_pressed (right)	Wrist_Roll / Head_Pan CCW rotate	0 or 1	0