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add inverted reverse param (backport #35) #44

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merged 2 commits into from
Jun 17, 2024
Merged

add inverted reverse param (backport #35) #44

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35aa418
add inverted reverse param (#35)
turtlewizard73 Jun 7, 2023
30b7712
Merge remote-tracking branch 'origin/iron' into mergify/bp/iron/pr-35
ahcorde Jun 17, 2024
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11 changes: 6 additions & 5 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ The package comes with the `teleop_node` that republishes `sensor_msgs/msg/Joy`

- `enable_button (int, default: 0)`
- Joystick button to enable regular-speed movement.

- `enable_turbo_button (int, default: -1)`
- Joystick button to enable high-speed movement (disabled when -1).

Expand All @@ -51,21 +51,22 @@ The package comes with the `teleop_node` that republishes `sensor_msgs/msg/Joy`
- `axis_angular.yaw (int, default: 2)`
- `axis_angular.pitch (int, default: -1)`
- `axis_angular.roll (int, default: -1)`

- `scale_angular.<axis>`
- Scale to apply to joystick angular axis.
- `scale_angular.yaw (double, default: 0.5)`
- `scale_angular.pitch (double, default: 0.0)`
- `scale_angular.roll (double, default: 0.0)`

- `scale_angular_turbo.<axis>`
- Scale to apply to joystick angular axis for high-speed movement.
- `scale_angular_turbo.yaw (double, default: 1.0)`
- `scale_angular_turbo.pitch (double, default: 0.0)`
- `scale_angular_turbo.roll (double, default: 0.0)`



- `inverted_reverse (bool, default: false)`
- Whether to invert turning left-right while reversing (useful for differential wheeled robots).



# Usage
Expand Down
15 changes: 13 additions & 2 deletions src/teleop_twist_joy.cpp
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Expand Up @@ -61,6 +61,8 @@ struct TeleopTwistJoy::Impl
int64_t enable_button;
int64_t enable_turbo_button;

bool inverted_reverse;

std::map<std::string, int64_t> axis_linear_map;
std::map<std::string, std::map<std::string, double>> scale_linear_map;

Expand Down Expand Up @@ -89,6 +91,8 @@ TeleopTwistJoy::TeleopTwistJoy(const rclcpp::NodeOptions & options)

pimpl_->enable_turbo_button = this->declare_parameter("enable_turbo_button", -1);

pimpl_->inverted_reverse = this->declare_parameter("inverted_reverse", false);

std::map<std::string, int64_t> default_linear_map{
{"x", 5L},
{"y", -1L},
Expand Down Expand Up @@ -143,6 +147,8 @@ TeleopTwistJoy::TeleopTwistJoy(const rclcpp::NodeOptions & options)
ROS_INFO_COND_NAMED(
pimpl_->enable_turbo_button >= 0, "TeleopTwistJoy",
"Turbo on button %" PRId64 ".", pimpl_->enable_turbo_button);
ROS_INFO_COND_NAMED(
pimpl_->inverted_reverse, "TeleopTwistJoy", "%s", "Teleop enable inverted reverse.");

for (std::map<std::string, int64_t>::iterator it = pimpl_->axis_linear_map.begin();
it != pimpl_->axis_linear_map.end(); ++it)
Expand Down Expand Up @@ -180,6 +186,8 @@ TeleopTwistJoy::TeleopTwistJoy(const rclcpp::NodeOptions & options)
for (const auto & parameter : parameters) {
if (parameter.get_name() == "require_enable_button") {
this->pimpl_->require_enable_button = parameter.get_value<rclcpp::PARAMETER_BOOL>();
} else if (parameter.get_name() == "inverted_reverse") {
this->pimpl_->inverted_reverse = parameter.get_value<rclcpp::PARAMETER_BOOL>();
} else if (parameter.get_name() == "enable_button") {
this->pimpl_->enable_button = parameter.get_value<rclcpp::PARAMETER_INTEGER>();
} else if (parameter.get_name() == "enable_turbo_button") {
Expand Down Expand Up @@ -268,10 +276,13 @@ void TeleopTwistJoy::Impl::sendCmdVelMsg(
// Initializes with zeros by default.
auto cmd_vel_msg = std::make_unique<geometry_msgs::msg::Twist>();

cmd_vel_msg->linear.x = getVal(joy_msg, axis_linear_map, scale_linear_map[which_map], "x");
double lin_x = getVal(joy_msg, axis_linear_map, scale_linear_map[which_map], "x");
double ang_z = getVal(joy_msg, axis_angular_map, scale_angular_map[which_map], "yaw");

cmd_vel_msg->linear.x = lin_x;
cmd_vel_msg->linear.y = getVal(joy_msg, axis_linear_map, scale_linear_map[which_map], "y");
cmd_vel_msg->linear.z = getVal(joy_msg, axis_linear_map, scale_linear_map[which_map], "z");
cmd_vel_msg->angular.z = getVal(joy_msg, axis_angular_map, scale_angular_map[which_map], "yaw");
cmd_vel_msg->angular.z = (lin_x < 0.0 && inverted_reverse) ? -ang_z : ang_z;
cmd_vel_msg->angular.y = getVal(joy_msg, axis_angular_map, scale_angular_map[which_map], "pitch");
cmd_vel_msg->angular.x = getVal(joy_msg, axis_angular_map, scale_angular_map[which_map], "roll");

Expand Down