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Set up nodes for joystick (XBox) controller #7

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Set up nodes for joystick (XBox) controller #7

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6 changes: 6 additions & 0 deletions ros/src/fastpeople/launch/software_crazyflie_launcher.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -290,4 +290,10 @@
<param name="topics/final_control" value="$(arg final_control_topic)" />
<param name="topics/in_flight" value="$(arg in_flight_topic)" />
</node>

<!-- Joystick controller node (listens to XBox controller for service calls). -->
<node name="joystick_controller" pkg="crazyflie_demo" type="controller.py" output="screen">
<param name="use_crazyflie_controller" value="True" />
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@dfridovi dfridovi Aug 29, 2018

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Not sure what this use_crazyflie_controller parameter does but I suspect we'll need to look at the source code for this node and make sure it calls the right services. Alternatively (preferably) we can rename the services used by crazyflie_takeoff to match the ones assumed by the joystick.

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@jfisac jfisac Aug 29, 2018 •
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Yup, I agree, I think it's the cleanest thing: we just provide the same interface with an alternative implementation of the services.

Regarding the use_crazyflie_controller argument, it seems this simply tells the controller whether or not to look for the takeoff and land services and set up the corresponding proxies (which then get called by a Subscriber set up by the controller node listening to the \joy topic); the emergency proxy is always set up regardless.

From crazyflie_demo's controller.py:

if use_controller:
            rospy.loginfo("waiting for land service")
            rospy.wait_for_service('land')
            rospy.loginfo("found land service")
            self._land = rospy.ServiceProxy('land', Empty)

            rospy.loginfo("waiting for takeoff service")
            rospy.wait_for_service('takeoff')
            rospy.loginfo("found takeoff service")
            self._takeoff = rospy.ServiceProxy('takeoff', Empty)
        else:
            self._land = None
            self._takeoff = None

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@jfisac jfisac Aug 29, 2018

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(Also, killing it with markdown :P)

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@dfridovi dfridovi Aug 29, 2018

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Sounds good!

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@jfisac jfisac Aug 29, 2018

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It looks like we're already calling our services /takeoff and /land respectively. The controller.cpp file defines the services as takeoff and land, but I think the slash doesn't make a difference here.

Based on this it looks like all that would be left would be implementing the emergency service. By the way, I'm not sure who implements their emergency service, currently, it's not controller.cpp.

<param name="joy_topic" value="/joy" />
</node>
</launch>
8 changes: 8 additions & 0 deletions ros/src/fastpeople/launch/software_demo.launch
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Expand Up @@ -13,6 +13,9 @@
<arg name="collision_check_resolution" default="0.33" />
<arg name="grid_resolution" default="0.33" />

<!-- Hardware interfaces. -->
<arg name="joy_dev" default="/dev/input/js0" />

<!-- Record a rosbag. -->
<node pkg="rosbag"
type="record"
Expand All @@ -21,6 +24,11 @@
if="$(arg record)">
</node>

<!-- Joystick (XBox controller) publisher node. -->
<node name="joy" pkg="joy" type="joy_node" output="screen">
<param name="dev" value="$(arg joy_dev)" />
</node>

<!-- ========================== Robot 1. ========================== -->
<include file="$(find fastpeople)/launch/software_crazyflie_launcher.launch">
<arg name="suffix" value="$(arg robot1)" />
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