ROS2 port

joy_teleop/config/joy_teleop_example.yaml

@@ -1,115 +1,115 @@
-teleop:
-  walk:
-    type: topic
-    message_type: geometry_msgs/Twist
-    topic_name: cmd_vel
-    deadman_buttons: [4]
-    axis_mappings:
-      -
-        axis: 1
-        target: linear.x
-        scale: 0.5
-        offset: -0.03
-      -
-        axis: 0
-        target: angular.z
-        scale: 0.5
-      -
-        axis: 2
-        target: linear.y
-        scale: 0.3
-      -
-        button: 2
-        target: linear.z
-        scale: 3.0
+joy_teleop:
+  ros__parameters:
 
-  force_push:
-    type: topic
-    message_type: geometry_msgs/Wrench
-    topic_name: base_link_wrench
-    deadman_buttons: [5, 7]
-    axis_mappings:
-      -
-        axis: 3
-        target: force.x
-        scale: 40
-      -
-        axis: 2
-        target: force.y
-        scale: 40
+    walk:
+      type: topic
+      interface_type: geometry_msgs/msg/Twist
+      topic_name: cmd_vel
+      deadman_buttons: [4]
+      axis_mappings:
+        linear-x:
+          axis: 1
+          scale: 0.5
+          offset: -0.03
+        angular-z:
+          axis: 0
+          scale: 0.5
+        linear-y:
+          axis: 2
+          scale: 0.3
+        linear-z:
+          button: 2
+          scale: 3.0
 
-  stop_everything:
-    type: action
-    action_name: stop_joints
-    buttons: [4, 5, 6, 7]
+    force_push:
+      type: topic
+      interface_type: geometry_msgs/msg/Wrench
+      topic_name: base_link_wrench
+      deadman_buttons: [5, 7]
+      axis_mappings:
+        force-x:
+          axis: 3
+          scale: 40
+        force-y:
+          axis: 2
+          scale: 40
 
-  torso_up:
-    type: action
-    action_name: /torso_controller/increment
-    action_goal:
-      increment_by: [0.05]
-    buttons: [4]
+    stop:
+      type: topic
+      interface_type: geometry_msgs/msg/Twist
+      topic_name: cmd_vel
+      deadman_buttons: [0, 2]
+      message_value:
+        linear-x:
+          value: 0.0
+        angular-z:
+          value: 0.0
+        linear-y:
+          value: 0.0
 
-  torso_down:
-    type: action
-    action_name: /torso_controller/increment
-    action_goal:
-      increment_by: [-0.05]
-    buttons: [6]
+    hello:
+      type: topic
+      interface_type: std_msgs/msg/String
+      topic_name: chatter
+      deadman_buttons: [2]
+      message_value:
+        data:
+          value: 'Hello'
 
-  stop:
-    type: topic
-    message_type: geometry_msgs/Twist
-    topic_name: cmd_vel
-    deadman_buttons: [0, 2]
-    message_value:
-      -
-        target: linear.x
-        value: 0.0
-      -
-        target: angular.z
-        value: 0.0
-      -
-        target: linear.y
-        value: 0.0
+    array:
+      type: topic
+      interface_type: std_msgs/msg/UInt8MultiArray
+      topic_name: bytes
+      deadman_buttons: [5]
+      message_value:
+        data:
+          value: [1,3,3,7]
 
-  hello:
-    type: topic
-    message_type: std_msgs/String
-    topic_name: chatter
-    deadman_buttons: [1]
-    message_value:
-      -
-        target: data
-        value: 'Hello'
+    array2:
+      type: topic
+      interface_type: std_msgs/msg/UInt8MultiArray
+      topic_name: bytes
+      deadman_buttons: [3]
+      message_value:
+        data:
+          value:
+            - 4
+            - 2
 
-  array:
-    type: topic
-    message_type: std_msgs/UInt8MultiArray
-    topic_name: bytes
-    deadman_buttons: [5]
-    message_value:
-      -
-        target: data
-        value: [1,3,3,7]
+    # stop_everything:
+    #   type: action
+    #   action_name: stop_joints
+    #   buttons: [4, 5, 6, 7]
 
-  array2:
-    type: topic
-    message_type: std_msgs/UInt8MultiArray
-    topic_name: bytes
-    deadman_buttons: [3]
-    message_value:
-      -
-        target: data
-        value:
-          - 4
-          - 2
+    torso_up:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: torso_controller/increment
+      action_goal:
+        increment_by: [0.05]
+      buttons: [4]
 
-  add_two_ints:
-    type: service
-    service_name: /add_two_ints
-    service_request:
-      a: 11
-      b: 31
-    service_persistent: False # False by default
-    buttons: [10]
+    torso_down:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: torso_controller/increment
+      action_goal:
+        increment_by: [-0.05]
+      buttons: [6]
+
+    fibonacci:
+      type: action
+      interface_type: action_tutorials/action/Fibonacci
+      action_name: fibonacci
+      action_goal:
+        order: 5
+      buttons: [1]
+
+    add_two_ints:
+      type: service
+      interface_type: example_interfaces/srv/AddTwoInts
+      service_name: add_two_ints
+      service_request:
+        a: 11
+        b: 31
+      buttons: [10]

joy_teleop/launch/example.launch.py

@@ -0,0 +1,47 @@
+# Copyright 2019 Canonical, Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+import launch.actions
+import launch_ros.actions
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+
+# Please note that this is only an example!
+# It is not guaranteed to work with your setup but can be used as a starting point.
+
+
+def generate_launch_description():
+
+    parameters_file = os.path.join(
+        get_package_share_directory('joy_teleop'),
+        'config', 'joy_teleop_example.yaml'
+    )
+
+    ld = LaunchDescription([
+        launch.actions.DeclareLaunchArgument('cmd_vel', default_value='input_joy/cmd_vel'),
+        launch.actions.DeclareLaunchArgument('teleop_config', default_value=parameters_file),
+    ])
+
+    ld.add_action(launch_ros.actions.Node(
+            package='joy_teleop', node_executable='joy_teleop',
+            parameters=[launch.substitutions.LaunchConfiguration('teleop_config')]))
+
+    ld.add_action(launch_ros.actions.Node(
+            package='joy_teleop', node_executable='incrementer_server',
+            node_name='incrementer', node_namespace='torso_controller'))
+
+    return ld

joy_teleop/package.xml

@@ -1,20 +1,33 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>joy_teleop</name>
   <version>0.3.0</version>
   <description>A (to be) generic joystick interface to control a robot</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <license>BSD</license>
+
   <author email="paul.mathieu@pal-robotics.com">Paul Mathieu</author>
 
-  <license>BSD</license>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>teleop_tools_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>ros_lauch</test_depend>
+  <test_depend>demo_nodes_cpp</test_depend>
+  <test_depend>action_tutorials</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>std_msgs</test_depend>
 
-  <run_depend>actionlib</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rostopic</run_depend>
-  <run_depend>teleop_tools_msgs</run_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
 
 </package>