use keyboard twist to control scrimmage

launch/user-control.launch

@@ -1,11 +1,19 @@
 <launch>
   <arg name="mission_file" default="user-control-jsbsim.xml"/>
+  <arg name="robot_id" default="1"/>
+  <arg name="robot_name" default="robot$(arg robot_id)"/>
 
   <param name ="/use_sim_time" value="true"/>
 
   <!-- All robots share scrimmage_ros -->
   <node pkg="scrimmage_ros" type="scrimmage_ros.py" name="scrimmage_ros"
         args="$(find scrimmage_ros)/missions/$(arg mission_file)"
-        output="screen"/>  
-
+        output="screen"/>
+
+  <group ns="$(arg robot_name)">
+    <node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py"
+          name="teleop_twist_keyboard"
+          output="screen"/>
+  </group>
+
 </launch>

missions/user-control-jsbsim.xml

@@ -1,78 +1,71 @@
 <?xml version="1.0"?>
 <?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
-<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"           
+<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     name="SASC Capture the Flag">
-  
-  <run start="0.0" end="100" dt="0.0083333" 
-       time_warp="1" 
+
+  <run start="0.0" end="100" dt="0.0083333"
+       time_warp="1"
        enable_gui="true"
        network_gui="false"
        start_paused="true"/>
-  
+
   <stream_port>50051</stream_port>
   <stream_ip>localhost</stream_ip>
-  
-  <end_condition>none</end_condition> <!-- time, one_team, none-->  
-  
+
+  <end_condition>none</end_condition> <!-- time, one_team, none-->
+
   <grid_spacing>10</grid_spacing>
   <grid_size>1000</grid_size>
-  
+
   <terrain>mcmillan</terrain>
   <background_color>191 191 191</background_color> <!-- Red Green Blue -->
   <gui_update_period>10</gui_update_period> <!-- milliseconds -->
-  
+
   <plot_tracks>false</plot_tracks>
   <output_type>all</output_type>
   <show_plugins>false</show_plugins>
-  
-  <log_dir>~/.scrimmage/logs</log_dir>  
-      
+
+  <log_dir>~/.scrimmage/logs</log_dir>
+
   <latitude_origin>35.721025</latitude_origin>
-  <longitude_origin>-120.767925</longitude_origin>      
+  <longitude_origin>-120.767925</longitude_origin>
   <altitude_origin>300</altitude_origin>
   <show_origin>true</show_origin>
   <origin_length>10</origin_length>
-  
+
   <entity_interaction order="0">SimpleCollision</entity_interaction>
   <metrics order="0">SimpleCollisionMetrics</metrics>
-  
+
   <!-- uncomment "seed" and use integer for deterministic results -->
   <seed>1714060370</seed>
-  
+
   <!-- ========================== TEAM 1 ========================= -->
   <entity>
-    <team_id>1</team_id> 
+    <team_id>1</team_id>
     <color>77 77 255</color>
     <count>1</count>
     <health>1</health>
 
     <variance_x>20</variance_x>
     <variance_y>20</variance_y>
     <variance_z>10</variance_z>
-    
+
     <x>-1000</x>
     <y>0</y>
     <z>200</z>
-    <heading>0</heading>            
+    <heading>0</heading>
 
     <autonomy>ROSControl</autonomy>
-    <motion_model>JSBSimModel</motion_model>
-    <controller>JSBSimModelControllerHeadingPID</controller>
-    <script_name>rascal_piedmont.xml</script_name>
-
+    <controller>JSBSimControlControllerDirect</controller>
+    <motion_model>JSBSimControl</motion_model>
+    <script_name>rascal_no_autopilot.xml</script_name>
     <visual_model>zephyr-blue</visual_model>
-
-    <base>
-      <latitude>35.721112</latitude>
-      <longitude>-120.770305</longitude>
-      <altitude>300</altitude>  
-      <radius>25</radius>
-      <opacity>1.0</opacity>
-    </base>    
+
   </entity>
 
+  <!--
   <entity>
-    <team_id>2</team_id> 
+    <team_id>2</team_id>
     <color>77 77 255</color>
     <count>10</count>
     <health>1</health>
@@ -87,18 +80,19 @@
 
     <heading>180</heading>
 
-    <autonomy>Straight</autonomy>    
+    <autonomy>Straight</autonomy>
     <motion_model>JSBSimModel</motion_model>
     <controller>JSBSimModelControllerHeadingPID</controller>
-    <script_name>rascal_piedmont.xml</script_name>    
+    <script_name>rascal_piedmont.xml</script_name>
     <visual_model>zephyr-red</visual_model>
-        
+
     <base>
       <latitude>35.719961</latitude>
       <longitude>-120.767304</longitude>
       <altitude>300</altitude>
       <radius>25</radius>
-    </base>      
+    </base>
   </entity>
-
+  -->
+
 </runscript>