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Relay stamped cmd vel #282

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Relay stamped cmd vel #282

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ca3a1fc
Remap velocity command topic and add relay node
garyservin Nov 26, 2024
86839c2
Use Stamped message for velocity commands
garyservin Nov 25, 2024
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1 change: 1 addition & 0 deletions andino_bringup/config/joystick.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,3 +25,4 @@ teleop_node:
enable_turbo_button: 5

require_enable_button: true
publish_stamped_twist: true
2 changes: 1 addition & 1 deletion andino_bringup/launch/teleop_joystick.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ def generate_launch_description():

cmd_vel_topic_arg = DeclareLaunchArgument(
'cmd_vel_topic',
default_value='/cmd_vel',
default_value='/cmd_vel_stamped',
description='Indicates the cmd_vel topic.')
cmd_vel_topic = LaunchConfiguration('cmd_vel_topic')

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4 changes: 4 additions & 0 deletions andino_bringup/launch/teleop_keyboard.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,19 @@
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

from launch import LaunchDescription

from launch_ros.actions import Node


def generate_launch_description():
teleop_node = Node(
package='teleop_twist_keyboard',
executable='teleop_twist_keyboard',
name='teleop_twist_keyboard_node',
output='screen',
prefix = 'xterm -e',
parameters=[{'stamped': True}],
remappings=[('/cmd_vel', 'cmd_vel_stamped')],
)

return LaunchDescription([
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15 changes: 11 additions & 4 deletions andino_control/launch/andino_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,10 +55,9 @@ def generate_launch_description():
parameters=[{'robot_description': ParameterValue(robot_description, value_type=str)},
controller_params_file],
remappings=[
('/diff_controller/cmd_vel', '/cmd_vel'), # Used if use_stamped_vel param is true
('/diff_controller/cmd_vel_unstamped', '/cmd_vel'), # Used if use_stamped_vel param is false
('/diff_controller/cmd_vel_out', '/cmd_vel_out'), # Used if publish_limited_velocity param is true
('/diff_controller/odom', '/odom'),
('/diff_controller/cmd_vel', 'cmd_vel_stamped'),
('/diff_controller/cmd_vel_out', 'cmd_vel_out'),
('/diff_controller/odom', 'odom'),
],
output="both",
)
Expand All @@ -83,10 +82,18 @@ def generate_launch_description():
)
)

relay_node = Node(
package="topic_tools",
executable="relay_field",
name="cmd_vel_relay",
arguments=["cmd_vel", "cmd_vel_stamped", "geometry_msgs/TwistStamped", "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, twist: m}", "--wait-for-start"],
)

nodes = [
control_node,
joint_state_broadcaster_spawner,
delay_diff_drive_controller_spawner_after_joint_state_broadcaster_spawner,
relay_node,
]

return LaunchDescription(nodes)
1 change: 1 addition & 0 deletions andino_control/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<exec_depend>diff_drive_controller</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>ros2controlcli</exec_depend>
<exec_depend>topic_tools</exec_depend>

<test_depend>ament_cmake_clang_format</test_depend>

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