Merge pull request esa-prl#8 from esa-prl/dev

* Fixed a bug that caused the motors to only stop delayed. * New shell scripts make starting and configuring of docker containers easier. * Minor refactoring * Minor web-GUI improvements * Add enable disable funcationality to motors. * Add "motors" button to enable and disable motors. * Changed the button allocation on the gamepad: * Y - Crabbing * X - Spot turn * A - Ackerman * Start - Enable Motors
pulcher · Aug 27, 2020 · 8f92f63 · 8f92f63
2 parents 21a01a2 + c36beac
commit 8f92f63
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Showing 16 changed files with 351 additions and 299 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -51,8 +51,8 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate messages in the 'msg' folder
 add_message_files(
       FILES
-      Joystick.msg
-      Commands.msg
+      RoverCommand.msg
+      MotorCommands.msg
       Screen.msg
   )
 ## Generate services in the 'srv' folder

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -6,7 +6,7 @@ RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 
 # Basic tools
 RUN apt-get update && \
-    apt-get install vim git tmux wget curl python-pip -y
+    apt-get install vim nano git tmux wget curl python-pip net-tools iputils-ping  -y
 
 # Install additional ros packages
 RUN apt-get update && apt-get install ros-melodic-rosbridge-server ros-melodic-joy -y

diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
@@ -1,9 +1,9 @@
 #!/bin/bash
-if [ $1 == "config" ]
+if [[ $1 == "config" ]]
 then
 	cd /root/exomy_ws/src/exomy/scripts
 	bash
-elif [ $1 == "autostart" ]
+elif [[ $1 == "autostart" ]]
 then
 	source /opt/ros/melodic/setup.bash
 	cd /root/exomy_ws
@@ -14,7 +14,7 @@ then
 	roslaunch exomy exomy.launch
 
 	bash
-elif [ $1 == "ros" ]
+elif [[ $1 == "devel" ]]
 then
 	cd /root/exomy_ws
 	source /opt/ros/melodic/setup.bash

diff --git a/docker/run_exomy.sh b/docker/run_exomy.sh
@@ -0,0 +1,75 @@
+#!/bin/bash
+# run_exomy- A script to run containers for dedicated functions of exomy
+
+help_text="Usage: "$0" [MODE] [OPTIONS]
+    A script to run ExoMy in different configurations
+    Options:
+        -a, --autostart     Toggles autostart mode on or off
+        -c, --config        Runs the motor configuration of ExoMy
+        -d, --devel         Runs the development mode to change some code of ExoMy 
+        -h, --help          Shows this text
+"
+
+### Main
+# Initialize parameters 
+container_name="exomy"
+image_name="exomy"
+
+# Process parameters
+if [ "$1" != "" ]; then
+    case $1 in
+        -a | --autostart)       
+                                container_name="${container_name}_autostart"
+                                start_command="autostart"
+                                options="--restart always"
+
+                                ;;
+        -s | --stop_autostart)  
+                                docker container stop "${container_name}_autostart"
+                                exit     
+                                ;;
+        -c | --config)          
+                                container_name="${container_name}_config"
+                                start_command="config"
+                                options="--rm"
+                                ;;
+        -d | --devel)           
+                                container_name="${container_name}_devel"
+                                start_command="devel"
+                                options="--restart always"
+                                ;;  
+        -h | --help )           echo "$help_text"
+                                exit
+                                ;;
+        * )                     echo "ERROR: Not a valid mode!"
+                                echo "$help_text"
+                                exit 1
+    esac
+else
+    echo "ERROR: You need to specify a mode!"
+    echo "$help_text"
+    exit
+fi
+
+# Build docker image from Dockerfile in directory 
+directory=$( dirname "$0" )
+docker build -t $image_name $directory
+
+# Stop any of the 3 containers if running
+RUNNING_CONTAINERS=$( docker container ls -a -q --filter ancestor=exomy )
+if [ -n "$RUNNING_CONTAINERS" ]; then
+    docker rm -f "$RUNNING_CONTAINERS"
+fi
+
+# Run docker container
+docker run \
+    -it \
+    -v ~/ExoMy_Software:/root/exomy_ws/src/exomy \
+    -p 8000:8000 \
+    -p 8080:8080 \
+    -p 9090:9090 \
+    --privileged \
+    ${options} \
+    --name "${container_name}" \
+    "${image_name}" \
+    "${start_command}"
diff --git a/gui/index.html b/gui/index.html
@@ -16,6 +16,10 @@
       url: 'ws://' + host_url + ':9090'
     });
 
+    // Initialize Axes and Buttons arrays
+    var axes = [0, 0, 0, 0, 0, 0];
+    var buttons = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
+
     ros.on('connection', function () {
       document.getElementById("status").innerHTML = "Connected";
     });
@@ -46,33 +50,33 @@
         var max_distance = 75;
         var x = -Math.cos(nipple.angle.radian) * nipple.distance / max_distance;
         var y = Math.sin(nipple.angle.radian) * nipple.distance / max_distance;
-        axes = [x, y]
+        axes = [x, y, 0, 0, 0, 0]
 
         // nipplejs is triggering events when joystick moves each pixel
         // we need delay between consecutive messege publications to 
         // prevent system from being flooded by messages
         // events triggered earlier than 50ms after last publication will be dropped 
 
         if (publishImmidiately) {
-           publishImmidiately = false;
-       	   joy_event()
-	   window.clearInterval(watchdog_handle)
-           watchdog_handle=window.setInterval(joy_event, 50)
-
-           setTimeout(function () {
-             publishImmidiately = true;
-           }, 50);
-         }
+          publishImmidiately = false;
+          joy_event()
+          window.clearInterval(watchdog_handle)
+          watchdog_handle = window.setInterval(joy_event, 50)
+
+          setTimeout(function () {
+            publishImmidiately = true;
+          }, 50);
+        }
         //joy_event()
         //window.clearInterval()
         //window.setInterval(joy_event, 500)
       });
 
       self.manager.on('end', function () {
         window.clearInterval(watchdog_handle)
-        axes = [0, 0]
+        axes = [0, 0, 0, 0, 0, 0]
         joy_event()
-	console.log('End function called')
+        console.log('End function called')
       });
     }
     window.onload = function () {
@@ -99,30 +103,16 @@
       console.log(buttons)
     }
 
-    buttonY_clicked = function () {
-      axes = [0, 0]
-      buttons = [0, 0, 0, 1];
-      joy_event();
-    }
-    buttonX_clicked = function () {
-      axes = [0, 0]
-      buttons = [1, 0, 0, 0];
-      joy_event();
-    }
-    buttonB_clicked = function () {
-      axes = [0, 0]
-      buttons = [0, 0, 1, 0];
+     button_clicked = function (button_index) {
+      // The desired button index can be found by listening to the /joy ros message
+      // or by checking in the wiki for the gamepad mapping.
+      // Set axes to 0 to prevent driving during mode change.
+      axes = [0, 0, 0, 0, 0, 0];
+      buttons[button_index] = 1;
       joy_event();
+      // After the command is sent set the index back to 0
+      buttons[button_index] = 0;
     }
-    buttonA_clicked = function () {
-      axes = [0, 0]
-      buttons = [0, 1, 0, 0];
-      joy_event();
-    }
-
-    var axes = [0, 0];
-    var buttons = [0, 0, 0, 0];
-
 
   </script>
   <link rel="stylesheet" type="text/css" href="style.css">
@@ -133,8 +123,7 @@
   <main>
     <div class="wrapper">
       <div class="left" id="left">
-        <div class="joy_container" id="joy_container">
-        </div>
+        <div class="joy_container" id="joy_container"></div>
       </div>
 
       <div class="middle" id="middle">
@@ -144,9 +133,10 @@
       </div>
       <div class="right" id="right">
         <div class="button_container">
-          <button class="button buttonY" onclick="buttonY_clicked()">ACKERMANN</button>
-          <button class="button buttonB" onclick="buttonB_clicked()">POINT_TURN</button>
-          <button class="button buttonA" onclick="buttonA_clicked()">CRABBING</button>
+          <button class="button buttonY" onclick="button_clicked(3)">CRABBING</button>
+          <button class="button buttonX" onclick="button_clicked(0)">SPOT TURN</button>
+          <button class="button buttonA" onclick="button_clicked(1)">ACKERMANN</button>
+          <button class="button buttonStart" onclick="button_clicked(9)">MOTORS</button>
         </div>
       </div>
     </div>

diff --git a/gui/style.css b/gui/style.css
@@ -22,25 +22,36 @@ body {
   color: white;
   text-decoration: none;
   display: inline-block;
-  margin: 0 auto;
+  margin: 10px auto;
   cursor: pointer;
   width: 90%;
   box-shadow: 0 8px 16px 0 rgba(0,0,0,0.2), 0 6px 20px 0 rgba(0,0,0,0.19);
+  font-size: 18px;
+  font-weight: bold;
+  border-radius: 8px;
 }
 
 .buttonY{
     background-color: orange;
     grid-row: 1;
 }
-.buttonB{
-    background-color: red;
+.buttonX{
+    background-color: blue;
     grid-row: 2;
 }
 .buttonA{
     background-color: green;
     grid-row: 3;
 }
 
+.buttonStart{
+    background-color: red;
+    grid-row: 4;
+    width: 50%;
+    font-size: 12px;
+
+}
+
 .button_container {
     position: absolute;
     display: grid;
@@ -51,9 +62,9 @@ body {
 }
 .image_container {
     position: absolute;
-    top: 25%;
-    height: 100%;
-    width: 100%;
+    top: 20%;
+    height: 80%;
+    width: 80%;
 }
 .joy_container {
     height: 100%;

diff --git a/launch/exomy.launch b/launch/exomy.launch
@@ -1,7 +1,7 @@
 <launch>
     <node name="robot" pkg="exomy" type="robot_node.py" respawn="true" output="screen"/>
     <node name="motors" pkg="exomy" type="motor_node.py" respawn="true" output="screen" />
-    <node name="joystick" pkg="exomy" type="joystick_node.py" respawn="true" output="screen" />
+    <node name="joystick" pkg="exomy" type="joystick_parser_node.py" respawn="true" output="screen" />
 
     <node respawn="true" pkg="joy" type="joy_node" name="joy_node">
         <param name="coalesce_interval" value="0.05"/>

diff --git a/msg/Commands.msg → msg/MotorCommands.msg b/msg/Commands.msg → msg/MotorCommands.msg
diff --git a/msg/Joystick.msg → msg/RoverCommand.msg b/msg/Joystick.msg → msg/RoverCommand.msg
@@ -1,4 +1,5 @@
 bool connected
+bool motors_enabled
 int64 locomotion_mode
 int64 vel
 int64 steering
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>exomy</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>The ExoMy ROS package</description>
 
   <maintainer email="[email protected]">Maximilian Ehrhardt</maintainer>

diff --git a/src/joystick_node.py b/src/joystick_node.py