luci_basic_teleop

The luci_basic_teleop package is an example node that publishes messages that commands LUCI to drive by using the arrow keys on your keyboard. Use ctrl+c or q to terminate. This package was only tested to be compatible on a UNIX based Linux OS. If you are running this in our docker container, it will work. NOTE: This is only a package that is intended to be used with luci_ros2_sdk

Node name: /keyboard_control_node

Topic name: luci/remote_joystick

Topic message type: [luci_messages/msg/LuciJoystick]

Service Call when started: /luci/set_auto_remote_input std_srvs/srv/Empty

Service Call when terminated: /luci/remove_auto_remote_input std_srvs/srv/Empty

Usage

After correctly sourcing ROS2, Run the following to start the node:

ros2 run luci_basic_teleop keyboard_control_node

This node was created to communicate with the luci_grpc_interface

Package	Node
luci_basic_teleop	keyboard_control_node

Topics	Subscription / Publish	Message Type	Description
luci/remote_joystick	publish	luci_messages::msg::LuciJoystick	The remote JS values that are processed by LUCI for remote drive operations

More Info

Service Calls to Control Joystick Input###

When this node starts, it first sends a ros2 service call to LUCI that enables remote control of the chair.

This call /luci/set_auto_remote_input std_srvs/srv/Empty disables the physical joystick on the chair and only allows for remote control.

When this node is killed it re-enables the physical joystick and disables remote control by calling /luci/remove_auto_remote_input std_srvs/srv/Empty.

If somehow the system crashes or loses connection and the chair gets stuck in a joystick input state that you don't want, you can always run a service call from the terminal to change the state.

For example: ros2 service call /luci/set_auto_remote_input std_srvs/srv/Empty to enable remote control

or

ros2 service call /luci/remove_auto_remote_input std_srvs/srv/Empty to disable remote control

LuciJoystick Message Types

The LuciJoystick message contains the following data: | Data Type | Data Range| |-----------|-----------| | int32 forward_back | [-100, 100] | | int32 left_right | [-100, 100] | | int32 joystick_zone| [0 - 8] | | int32 input_source | [0 - 4] |

The integers for JoystickZone and InoutSource correspond with the following enums: enum JoystickZone { Front = 0; FrontLeft = 1; FrontRight = 2; Left = 3; Right = 4; BackLeft = 5; BackRight = 6; Back = 7; Origin = 8; }

enum InputSource { RampAssist = 0; Remote = 1; WDI = 2; ChairVirtual = 3; ChairPhysical = 4; }

More info on the LuciMessages package can be found at: https://github.com/lucimobility/luci-ros2-msgs