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48 changes: 27 additions & 21 deletions rr_control_input_manager/scripts/xbox_mapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@

# Author: Nick Fragale
# Description: This script converts Joystick commands into Joint Velocity commands
# Monitors A, B, X and Y buttons and toggles their state (False on startup) publishes
# Monitors A, B, X and Y buttons and toggles their state (False on startup) publishes
# a latched Bool() to /joystick/<button> where button is A, B, Y, or X
# these can be remapped to different topics to control various things like E-stoping the robot
# or starting to record a bagfile, or taking a picture.

# Xbox controller mapping:
# axes: [l-stick horz,l-stick vert, l-trigger, r-stick horz, r-stick vert, r-trigger]
# buttons: [a,b,x,y,lb,rb,back,start,xbox,l-stick,r-stick,l-pad,r-pad,u-pad,d-pad]
# buttons: [a,b,x,y,lb,rb,back,start,xbox,l-stick,r-stick,l-pad,r-pad,u-pad,d-pad]

import time

Expand Down Expand Up @@ -39,6 +39,7 @@
# 3) xpad module uses 2, xboxdrv uses 3
driver = rospy.get_param('/xbox_mapper_node/driver', 'xboxdrv')
wired_or_wireless = rospy.get_param('/xbox_mapper_node/wired_or_wireless', 'wireless')
enable_flippers = rospy.get_param('/xbox_mapper_node/flippers_enabled', 'False')

if driver == 'xpad':
rospy.logfatal('[{node_name}] xpad driver not supported.'.format(node_name=rospy.get_name()))
Expand Down Expand Up @@ -91,7 +92,8 @@
MAX_VEL_TURN = rospy.get_param('~max_vel_turn', 9.0)
MAX_VEL_FLIPPER = rospy.get_param('~max_vel_flipper', 1.4)
DRIVE_THROTTLE = rospy.get_param('~default_drive_throttle', 0.15)
FLIPPER_THROTTLE = rospy.get_param('~default_flipper_throttle', 0.6)
if enable_flippers:
FLIPPER_THROTTLE = rospy.get_param('~default_flipper_throttle', 0.6)
ADJ_THROTTLE = rospy.get_param('~adjustable_throttle', True)
A_BUTTON_TOGGLE = rospy.get_param('~a_button_toggle', False)
B_BUTTON_TOGGLE = rospy.get_param('~b_button_toggle', False)
Expand All @@ -114,7 +116,7 @@
y_button_msg = Bool()
y_button_msg.data = False

# define publishers
# define publishers
pub = rospy.Publisher('/cmd_vel/joystick', TwistStamped, queue_size=3)
a_button_pub = rospy.Publisher('/joystick/a_button', Bool, queue_size=1, latch=True)
b_button_pub = rospy.Publisher('/joystick/b_button', Bool, queue_size=1, latch=True)
Expand Down Expand Up @@ -255,32 +257,35 @@ def joy_cb(Joy):
if int(Joy.axes[DPAD_V_AXES]) == -1 and not DPAD_ACTIVE:
DRIVE_THROTTLE -= (1 / DRIVE_INCREMENTS)
DPAD_ACTIVE = True

if Joy.buttons[LB_BUTTON] == 1:
FLIPPER_THROTTLE -= (1 / FLIPPER_INCREMENTS)
rospy.loginfo(FLIPPER_THROTTLE)
if Joy.buttons[RB_BUTTON] == 1:
FLIPPER_THROTTLE += (1 / FLIPPER_INCREMENTS)
rospy.loginfo(FLIPPER_THROTTLE)
if enable_flippers:
if Joy.buttons[LB_BUTTON] == 1:
FLIPPER_THROTTLE -= (1 / FLIPPER_INCREMENTS)
rospy.loginfo(FLIPPER_THROTTLE)
if Joy.buttons[RB_BUTTON] == 1:
FLIPPER_THROTTLE += (1 / FLIPPER_INCREMENTS)
rospy.loginfo(FLIPPER_THROTTLE)

# If the user tries to decrease full throttle to 0
# Then set it back up to 0.2 m/s
if DRIVE_THROTTLE <= 0.001:
DRIVE_THROTTLE = (1 / DRIVE_INCREMENTS)
if FLIPPER_THROTTLE <= 0.001:
FLIPPER_THROTTLE = (1 / FLIPPER_INCREMENTS)
if enable_flippers:
if FLIPPER_THROTTLE <= 0.001:
FLIPPER_THROTTLE = (1 / FLIPPER_INCREMENTS)

# If the user tries to increase the velocity limit when its at max
# then set velocity limit to max allowed velocity
if DRIVE_THROTTLE >= 1:
DRIVE_THROTTLE = 1
if FLIPPER_THROTTLE >= 1:
FLIPPER_THROTTLE = 1
if enable_flippers:
if FLIPPER_THROTTLE >= 1:
FLIPPER_THROTTLE = 1

# Update DEADBAND
FWD_DEADBAND = 0.2 * DRIVE_THROTTLE * MAX_VEL_FWD
TURN_DEADBAND = 0.2 * DRIVE_THROTTLE * MAX_VEL_TURN
FLIPPER_DEADBAND = 0.2 * FLIPPER_THROTTLE * MAX_VEL_FLIPPER
if enable_flippers:
FLIPPER_DEADBAND = 0.2 * FLIPPER_THROTTLE * MAX_VEL_FLIPPER

if DPAD_ACTIVE:
rospy.loginfo('Drive Throttle: %f', DRIVE_THROTTLE)
Expand All @@ -300,10 +305,10 @@ def joy_cb(Joy):
turn_cmd = 0

# Flipper up/down commands
flipper_cmd = (FLIPPER_THROTTLE * MAX_VEL_FLIPPER * Joy.axes[L_TRIG_AXES]) - (
FLIPPER_THROTTLE * MAX_VEL_FLIPPER * Joy.axes[R_TRIG_AXES])
if flipper_cmd < FLIPPER_DEADBAND and -FLIPPER_DEADBAND < flipper_cmd:
flipper_cmd = 0
if enable_flippers:
flipper_cmd = (FLIPPER_THROTTLE * MAX_VEL_FLIPPER * Joy.axes[L_TRIG_AXES]) - (FLIPPER_THROTTLE * MAX_VEL_FLIPPER * Joy.axes[R_TRIG_AXES])
if flipper_cmd < FLIPPER_DEADBAND and -FLIPPER_DEADBAND < flipper_cmd:
flipper_cmd = 0

# Limit acceleration
# drive_cmd, turn_cmd = limit_acc(drive_cmd, turn_cmd)
Expand All @@ -316,7 +321,8 @@ def joy_cb(Joy):
cmd.header.seq = seq
cmd.header.stamp = rospy.Time.now()
cmd.twist.linear.x = drive_cmd
cmd.twist.angular.y = flipper_cmd
if enable_flippers:
cmd.twist.angular.y = flipper_cmd
cmd.twist.angular.z = turn_cmd
pub.publish(cmd)
seq += 1
Expand Down
1 change: 1 addition & 0 deletions rr_openrover_driver/launch/2wd_teleop.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
<param name="max_vel_turn" value="9.0" />
<param name="adjustable_throttle" value="True" />
<param name="drive_increment" value="20" />
<param name="enable_flippers" value="False" />
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@padiln padiln Aug 10, 2020

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Does not match param value '/xbox_mapper_node/flippers_enabled'

<param name="flipper_increment" value="20" />
<param name="x_button_toggle" value="true"/>
<param name="y_button_toggle" value="true"/>
Expand Down
1 change: 1 addition & 0 deletions rr_openrover_driver/launch/4wd_auto_dock.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
<param name="max_vel_turn" value="9.0" />
<param name="adjustable_throttle" value="True" />
<param name="drive_increment" value="20" />
<param name="enable_flippers" value="False" />
<param name="flipper_increment" value="20" />
<param name="x_button_toggle" value="true"/>
<param name="y_button_toggle" value="true"/>
Expand Down
1 change: 1 addition & 0 deletions rr_openrover_driver/launch/4wd_teleop.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
<param name="max_vel_turn" value="9.0" />
<param name="adjustable_throttle" value="True" />
<param name="drive_increment" value="20" />
<param name="enable_flippers" value="False" />
<param name="flipper_increment" value="20" />
<param name="x_button_toggle" value="true"/>
<param name="y_button_toggle" value="true"/>
Expand Down
1 change: 1 addition & 0 deletions rr_openrover_driver/launch/4wd_teleop_test.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
<param name="max_vel_turn" value="9.0" />
<param name="adjustable_throttle" value="True" />
<param name="drive_increment" value="20" />
<param name="enable_flippers" value="False" />
<param name="flipper_increment" value="20" />
<param name="x_button_toggle" value="true"/>
<param name="y_button_toggle" value="true"/>
Expand Down
1 change: 1 addition & 0 deletions rr_openrover_driver/launch/teleop.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
<param name="max_vel_turn" value="7.0" />
<param name="adjustable_throttle" value="True" />
<param name="drive_increment" value="20" />
<param name="enable_flippers" value="False" />
<param name="flipper_increment" value="20" />
<param name="x_button_toggle" value="true"/>
<param name="y_button_toggle" value="true"/>
Expand Down
1 change: 1 addition & 0 deletions rr_rover_zero_driver/launch/teleop.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
<param name="max_vel_turn" value="6.28" />
<param name="adjustable_throttle" value="True" />
<param name="drive_increment" value="20" />
<param name="enable_flippers" value="False" />
<param name="flipper_increment" value="20" />
<param name="x_button_toggle" value="true"/>
<param name="y_button_toggle" value="true"/>
Expand Down