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 disbale 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 corespond 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