Joy2Twist package development ROS2 version (#2)

* Added Dockerfile

* Added changelog and readme

* Added workflow

* Added gitignore and license

* Changed config

* Made Cmake and package.xml

* Created source code

* Fixed subscriptions and cmake

* yaml fixed

* Launch created

* Added try catch block on callback

* Launch file created

* Fixed Dockerfile

* Fixed package building

* Velocity factors corrected

* Fixed launch file

* Created compose files

* Changad param values

* Fixed panther compose

* Dockerfile enhanced

* Template corrected

* Removed quotations

* Typos in readme

* Launch correction

* Launch formatting

* Typo corrected in guards

* Version package

* Changed executor type

* Details of code style

* Formatting

* Removed changelog

* Package depends ordered

* Readme update

* Param update

* New style guide

* New parameter added

* Yaml formatted

* Changed definition of config path

* Small corection - code review

* Update joy2twist/CMakeLists.txt

Co-authored-by: Maciej Stępień <[email protected]>

* default params changed

* Changed exec file name

* removed defaults

* Join path corrected in launch file

* Changed device ip

* Removed ROS_DEBUG from topic callback

* Node initialized print changed

Co-authored-by: Maciej Stępień <[email protected]>

.clang-format

@@ -0,0 +1,17 @@
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

.github/workflows/build-docker-image.yaml

@@ -0,0 +1,55 @@
+name: Build/Publish Docker Image 
+
+on:
+  push:
+    branches:
+      - 'ros2'
+  pull_request:
+    types:
+      - 'closed'
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros-distro: galactic
+            platforms: "linux/amd64, linux/arm64"
+          - ros-distro: humble
+            platforms: "linux/amd64, linux/arm64"
+
+    steps:
+
+    - name: Checkout
+      uses: actions/checkout@v2
+
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v1
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v1
+      with:
+        version: latest
+
+    - name: Login to Docker Registry
+      uses: docker/login-action@v1
+      with:
+        registry: docker.io
+        username: ${{ secrets.DOCKERHUB_USERNAME }}
+        password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+    - name: Build and push
+      uses: docker/build-push-action@v2
+      with:
+        context: .
+        file: ./Dockerfile
+        platforms: ${{ matrix.platforms }}
+        push: true
+        build-args: |
+          ROS_DISTRO=${{ matrix.ros-distro }}
+        tags: husarion/joy2twist:${{ matrix.ros-distro }}
+        cache-from: type=registry,ref=husarion/joy2twist:${{ matrix.ros-distro }}
+        cache-to: type=inline

.gitignore

@@ -0,0 +1,2 @@
+.vscode/**
+demo/.env

Dockerfile

@@ -0,0 +1,23 @@
+ARG ROS_DISTRO=galactic
+
+FROM ros:$ROS_DISTRO-ros-base
+
+# Use bash instead of sh
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+
+COPY ./joy2twist ./src/joy2twist
+
+# Update Ubuntu Software repository and initialise ROS workspace
+RUN apt update && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    colcon build --symlink-install && \
+    apt autoremove -y && \
+    apt clean && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY ./ros_entrypoint.sh /
+ENTRYPOINT ["/ros_entrypoint.sh"]

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 Husarion
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -0,0 +1,97 @@
+# Joy2Twist
+
+Dockerized ROS node allowing control of ROS-powered mobile robots with Logitech F710 gamepad. Joy2Twist node is converting `sensor_msgs/Joy` message to `geometry_msgs/Twist` in order to provide velocity commands for the mobile robot. Therefore this package is compliant (but not supported by Husarion) with any other gamepad controller which is able to publish the `sensor_msgs/Joy` message. 
+
+## Setup joy
+
+Connect joy via nano USB receiver and make sure it is in **DirectInput Mode** (switch in front o the pad with letters **D** and **X**, select **D**).
+
+To test if joy works, use `jstest /dev/input/js0`.
+If the output is:
+
+```
+jstest: No such file or directory
+```
+
+See `ls /dev/input | grep js` and find your joy number. If it differs, apply changes in *compose.yaml* and launch file.
+
+## Button mapping
+
+|  Button  |      Function      |
+|:--------:|:------------------:|
+|   `LB`   |   enable driving   |
+|   `RB`   | slow driving mode  |
+|   `RT`   |  fast driving mode |
+
+If neither `RB` nor `RT` is pressed, the robot operates in *regular* driving mode.
+
+To drive robot use sticks.
+By default, linear `X` and `Y` are held by the right stick. Angular `Z` is controlled with the left stick.
+
+---
+## ROS node API
+
+ROS node is translating `/joy` topic to `/cmd_vel` topic.
+
+
+### Publish
+
+- `/cmd_vel` *(geometry_msgs/Twist)*
+
+### Subscribe
+
+- `/joy` *(sensor_msgs/Joy)*
+
+### Parameters
+
+Following parameters change joystick axes mapped to given robot axes of freedom. For more information about parameter values, refer to the joy package [wiki page](http://wiki.ros.org/joy#Logitech_Wireless_Gamepad_F710_.28DirectInput_Mode.29).
+
+- `~axis_linear_x`      *(int, default: 3)* 
+- `~axis_linear_y`      *(int, default: 2)*
+- `~axis_angular_z`     *(int, default: 0)*
+
+The robot can be operated at 3 scales of speed depending on pressed buttons. It's possible to adjust velocity scaling factors using a [config file](./joy2twist/config/joy2twist.yaml). The Units are m/s for linear movement and rad/s for angular movement.
+
+- `fast`    *(float, default: 1)*
+- `regular` *(float, default: 0.5)*
+- `slow`    *(float, default: 0.2)*
+
+## Docker image
+
+[![Build/Publish Docker Image](https://github.com/husarion/joy2twist/actions/workflows/build-docker-image.yaml/badge.svg)](https://github.com/husarion/joy2twist/actions/workflows/build-docker-image.yaml)
+
+| ROS2 distro | Supported architectures |
+| - | - |
+| `galactic` | `linux/amd64`, `linux/arm64` |
+| `humble` | `linux/amd64`, `linux/arm64` |
+
+Available on [Docker Hub](https://hub.docker.com/r/husarion/joy2twist/tags)
+
+### Demo
+
+#### Controlling ROSbot 2 with a Logitech F710 gamepad
+
+1. Clone this repo on your ROSbot:
+
+    ```bash
+    git clone https://github.com/husarion/joy2twist.git
+    cd joy2twist/
+    ```
+
+2. Create `demo/.env` based on `demo/.env.template` file and modify it if needed (see comments)
+
+    ```bash
+    #SBC <> STM32 serial connection. Set:
+    #SERIAL_PORT=/dev/ttyS1 # ROSbot 2
+    #SERIAL_PORT=/dev/ttyS4 # ROSbot 2 PRO
+    SERIAL_PORT=/dev/ttyAMA0 # ROSbot 2R
+    ```
+
+3. Launch on ROSbot
+
+    Go to the `joy2twist/demo` folder and run:
+
+    ```bash
+    cd joy2twist/demo
+    docker compose -f compose.rosbot.yaml up
+    ```

demo/.env.template

@@ -0,0 +1,4 @@
+# SBC <> STM32 serial connection. Set:
+# SERIAL_PORT=/dev/ttyS1 # ROSbot 2
+# SERIAL_PORT=/dev/ttyS4 # ROSbot 2 PRO
+SERIAL_PORT=/dev/ttyAMA0 # ROSbbot 2R

demo/compose.panther.yaml

@@ -0,0 +1,30 @@
+services:
+
+  joy2twist:
+    image: husarion/joy2twist:galactic
+    restart: unless-stopped
+    tty: true
+    network_mode: host
+    ipc: host
+    devices:
+      - /dev/input/js0
+    environment:
+      - ROS_MASTER_URI=http://10.15.20.2:11311
+    volumes: 
+      - ../joy2twist/config/joy2twist.yaml:/joy2twist.yaml
+    command: >
+      ros2 launch
+      joy2twist gamepad_controller.launch.py
+      joy2twist_params_file:=/joy2twist.yaml
+
+  bridge:
+    image: husarion/ros:galactic-ros1-bridge
+    restart: unless-stopped
+    network_mode: host
+    ipc: host
+    environment:
+      - ROS_IP=10.15.20.2
+      - ROS_MASTER_URI=http://10.15.20.2:11311
+    command: >
+      ros2 run
+      ros1_bridge dynamic_bridge

demo/compose.rosbot.yaml

@@ -0,0 +1,43 @@
+services:
+
+  joy2twist:
+    image: husarion/joy2twist:galactic
+    restart: unless-stopped
+    tty: true
+    devices:
+      - /dev/input/js0
+    environment:
+      - ROS_MASTER_URI=http://ros-master:11311
+    volumes: 
+      - ../joy2twist/config/joy2twist.yaml:/joy2twist.yaml
+    command: >
+      ros2 launch
+      joy2twist gamepad_controller.launch.py
+      joy2twist_params_file:=/joy2twist.yaml
+
+  bridge:
+    image: husarion/ros:galactic-ros1-bridge
+    restart: unless-stopped
+    environment:
+      - ROS_MASTER_URI=http://ros-master:11311
+    command: >
+      ros2 run 
+      ros1_bridge dynamic_bridge
+
+  ros-master:
+    image: ros:melodic-ros-core
+    restart: unless-stopped
+    command: stdbuf -o L roscore
+
+  rosbot:
+    image: husarion/rosbot:melodic
+    restart: unless-stopped
+    tty: true
+    devices:
+      - ${SERIAL_PORT}
+    environment:
+      - SERIAL_PORT
+      - ROS_MASTER_URI=http://ros-master:11311
+    command: >
+      roslaunch --wait
+      rosbot_bringup rosbot_docker.launch

joy2twist/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.5)
+project(joy2twist)
+
+if (NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif ()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+set(GCC_COVERAGE_COMPILE_FLAGS "-pthread -DBOOST_ERROR_CODE_HEADER_ONLY -BOOST_SYSTEM_NO_DEPRECATED")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GCC_COVERAGE_COMPILE_FLAGS}")
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(joy_linux REQUIRED)
+include_directories(include)
+
+add_executable(
+  joy2twist
+  src/main.cpp
+  src/joy2twist_node.cpp
+)
+
+ament_target_dependencies(joy2twist
+  ament_cmake
+  ament_index_cpp
+  rclcpp
+  geometry_msgs  
+  sensor_msgs
+  joy_linux
+)
+
+install(TARGETS joy2twist
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if (BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_package()

joy2twist/config/joy2twist.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    linear_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    angular_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    # This button mapping should be adjusted to the specific controller
+    # The following map is suited for Logitech F710
+    button_index_map:
+      axis:
+        angular_z: 0 # Left joystick
+        linear_x: 3 # Right joystick
+        linear_y: 2 # Right joystick
+      dead_man_switch: 4 # LB
+      fast_mode: 7 # RT
+      slow_mode: 5 # RB