Arm teleop control

.gitmodules

@@ -4,6 +4,9 @@
 [submodule "utils/ros2-migration-tools"]
 	path = utils/ros2-migration-tools
 	url = https://github.com/awslabs/ros2-migration-tools.git
+[submodule "src/arm_teleop"]
+	path = src/arm_teleop
+	url = git@github.com:allenabraham106/arm_teleop.git
 [submodule "src/dualshock4_teleop"]
 	path = src/dualshock4_teleop
 	url = https://github.com/adityakamath/akros2_teleop.git

Dockerfile

@@ -1,6 +1,15 @@
 ARG ROS_BASE_IMAGE=osrf/ros:humble-desktop
 FROM ${ROS_BASE_IMAGE}
 
+# Purge all existing ROS-related repository lists and update
+RUN apt-get update -o Acquire::AllowInsecureRepositories=true && \
+    apt-get install -y curl gnupg2 lsb-release && \
+    rm -f /etc/apt/sources.list.d/ros*.list && \
+    rm -f /usr/share/keyrings/ros2-latest-archive-keyring.gpg && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list && \
+    apt-get update
+
 # Install additional tools and complete testing/linting packages
 RUN apt-get update && apt-get install -y \
     python3-colcon-common-extensions \

src/arm_bringup/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.8)
+project(arm_bringup)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/arm_bringup/launch/arm_teleop_launch.py

@@ -0,0 +1,29 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    arm_teleop_pkg = get_package_share_directory('arm_teleop')
+
+    arm_mapping    = os.path.join(arm_teleop_pkg, 'config', 'ps4_mapping.yaml')
+    arm_vel_config = os.path.join(arm_teleop_pkg, 'config', 'ps4_velocity_config.yaml')
+
+    return LaunchDescription([
+        # No joy node here — groundstation_bringup already publishes /joy
+        Node(
+            package='arm_teleop',
+            executable='arm_teleop_node',
+            name='arm_teleop_node',
+            output='screen',s
+            parameters=[arm_mapping, arm_vel_config],
+        ),
+
+        Node(
+            package='arm_teleop',
+            executable='arm_joint_sim_node',
+            name='arm_joint_sim_node',
+            output='screen',
+        ),
+    ])

src/arm_bringup/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arm_bringup</name>
+  <version>0.0.1</version>
+  <description>Bringup launch files for Sparky arm teleop</description>
+  <maintainer email="allenabraham106@gmail.com">Allen Abraham</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/arm_description/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.8)
+project(arm_description)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY urdf meshes launch config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/arm_description/config/arm_controllers.yaml

@@ -0,0 +1,20 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    forward_velocity_controller:
+      type: forward_command_controller/ForwardCommandController
+
+forward_velocity_controller:
+  ros__parameters:
+    joints:
+      - Joint_1
+      - Joint_2
+      - Joint_3
+      - Joint_4
+      - Joint_5
+      - Joint_6
+    interface_name: velocity

src/arm_description/config/arm_display.rviz

@@ -0,0 +1,192 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Gripper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        Link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: Link_1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.495004653930664
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 193
+  Y: 68

src/arm_description/config/joint_names_dummy_urdf.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'Joint_1', 'Joint_2', 'Joint_3', 'Joint_4', 'Joint_5', 'Joint_6', ]