update cabot2/3-remote.launch.py to enable joy control in Docker

cabot_base/launch/cabot2-remote.launch.py

@@ -35,6 +35,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import EnvironmentVariable
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import OrSubstitution
@@ -51,6 +52,7 @@ def generate_launch_description():
     model_name = LaunchConfiguration('model')  # need to be set
     touch_params = LaunchConfiguration('touch_params')
     gamepad = LaunchConfiguration('gamepad')
+    use_joy_linux = LaunchConfiguration('use_joy_linux')
     use_keyboard = LaunchConfiguration('use_keyboard')
     is_model_ace = PythonExpression(['"', model_name, '"=="cabot2-ace"'])
     use_imu = OrSubstitution(is_model_ace, LaunchConfiguration('use_imu'))
@@ -94,6 +96,11 @@ def generate_launch_description():
             default_value='ps4',
             description='Gamepad name ps4 or pro (Switch Pro Con)'
         ),
+        DeclareLaunchArgument(
+            'use_joy_linux',
+            default_value='False',
+            description='If true use joy_linux_node instead of joy_node'
+        ),
         DeclareLaunchArgument(
             'use_keyboard',
             default_value='False',
@@ -126,6 +133,7 @@ def generate_launch_description():
             parameters=[*param_files],
             remappings=[
                 ('/imu', '/cabot/imu/data'),
+                ('/cmd_vel', '/cabot/cmd_vel'), # /cabot/cmd_vel is directly input to motor_adapter in remote mode
             ],
         ),
 
@@ -171,6 +179,16 @@ def generate_launch_description():
             namespace='cabot',
             name='joy_node',
             parameters=[*param_files],
+            condition=UnlessCondition(use_joy_linux),
+        ),
+
+        Node(
+            package='joy_linux',
+            executable='joy_linux_node',
+            namespace='cabot',
+            name='joy_node', # keep the node name joy_node to keep using the same parameters
+            parameters=[*param_files],
+            condition=IfCondition(use_joy_linux),
         ),
 
         Node(

cabot_base/launch/cabot3-remote.launch.py

@@ -33,6 +33,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import EnvironmentVariable
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import OrSubstitution
@@ -49,6 +50,7 @@ def generate_launch_description():
     model_name = LaunchConfiguration('model')  # need to be set
     touch_params = LaunchConfiguration('touch_params')
     gamepad = LaunchConfiguration('gamepad')
+    use_joy_linux = LaunchConfiguration('use_joy_linux')
     use_keyboard = LaunchConfiguration('use_keyboard')
     is_model_ace = PythonExpression(['"', model_name, '"=="cabot3-s1"'])
     use_imu = OrSubstitution(is_model_ace, LaunchConfiguration('use_imu'))
@@ -94,6 +96,11 @@ def generate_launch_description():
             default_value='ps4',
             description='Gamepad name ps4 or pro (Switch Pro Con)'
         ),
+        DeclareLaunchArgument(
+            'use_joy_linux',
+            default_value='False',
+            description='If true use joy_linux_node instead of joy_node'
+        ),
         DeclareLaunchArgument(
             'use_keyboard',
             default_value='False',
@@ -136,6 +143,7 @@ def generate_launch_description():
             parameters=[*param_files],
             remappings=[
                 ('/imu', '/cabot/imu/data'),
+                ('/cmd_vel', '/cabot/cmd_vel'), # /cabot/cmd_vel is directly input to motor_adapter in remote mode
             ],
         ),
 
@@ -187,6 +195,15 @@ def generate_launch_description():
             namespace='cabot',
             name='joy_node',
             parameters=[*param_files],
+            condition=UnlessCondition(use_joy_linux),
+        ),
+        Node(
+            package='joy_linux',
+            executable='joy_linux_node',
+            namespace='cabot',
+            name='joy_node', # keep the node name joy_node to keep using the same parameters
+            parameters=[*param_files],
+            condition=IfCondition(use_joy_linux),
         ),
 
         Node(

docker/driver/Dockerfile

@@ -36,6 +36,7 @@ RUN apt update && apt install -y \
     python3-gi \
     python3-dbus \
 	ros-${ROS_DISTRO}-diagnostic-updater \
+    ros-${ROS_DISTRO}-joy-linux \
     ros-${ROS_DISTRO}-xacro \
     ros-${ROS_DISTRO}-realsense2-description \
     ros-${ROS_DISTRO}-pointcloud-to-laserscan