added joystick as a service

demo/compose.yaml

@@ -0,0 +1,38 @@
+# Usage:
+# xhost +local:docker && docker compose up
+
+x-net-config:
+  &net-config
+  network_mode: host
+  ipc: host
+  env_file: net.env
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - NVIDIA_VISIBLE_DEVICES=all
+    - NVIDIA_DRIVER_CAPABILITIES=all
+
+services:
+  rviz:
+    # Launching rviz with moveit2 requires all the configs, using manipulation simulation image is easiest option
+    image: husarion/rosbot-xl-manipulation-gazebo:humble
+    <<: [ *net-config, *gpu-config ]
+    container_name: rviz
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./config/rosbot_xl.rviz:/ros2_ws/install/rosbot_xl_manipulation_moveit/share/rosbot_xl_manipulation_moveit/config/moveit.rviz
+    command: ros2 launch rosbot_xl_manipulation_moveit rviz.launch.py
+
+  joy2twist:
+    image: husarion/joy2twist:humble-1.0.0-20230204-stable
+    <<: *net-config
+    devices:
+      - /dev/input
+    volumes: 
+      - ./config/joy2twist.yaml:/joy2twist.yaml
+    command: > 
+      ros2 launch joy2twist gamepad_controller.launch.py
+        joy2twist_params_file:=/joy2twist.yaml

demo/config/joy2twist.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    linear_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    angular_velocity_factor:
+      fast: 1.5
+      regular: 0.8
+      slow: 0.4
+
+    # This button mapping should be adjusted to the specific controller
+    # The following map is suited for Logitech F710
+    button_index_map:
+      axis:
+        angular_z: 2 # Right joystick
+        linear_x: 1 # Left joystick
+        linear_y: 0 # Left joystick
+      dead_man_switch: 4 # LB
+      fast_mode: 7 # RT
+      slow_mode: 5 # RB

demo/net.env

@@ -0,0 +1,18 @@
+# =======================================
+# Network config options (uncomment one)
+# =======================================
+
+# 1. Fast DDS + LAN
+# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# 2. Cyclone DDS + LAN
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# 3. Fast DDS + VPN
+# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
+
+# 4. Cyclone DDS + VPN
+# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
+# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml

snap/hooks/configure

@@ -65,7 +65,7 @@ fi
 $SNAP/usr/bin/configure_hook_ros.sh
 
 # restart services with new ROS 2 config
-for service in daemon web-ui web-ws; do
+for service in daemon web-ui web-ws joy; do
   if snapctl services ${SNAP_NAME}.${service} | grep -qw enabled; then
     snapctl restart ${SNAP_NAME}.${service}
     log "Restarted ${SNAP_NAME}.${service}"

snap/local/local-ros/utils.sh

@@ -117,7 +117,57 @@ validate_number() {
     fi
 }
 
+validate_regex() {
+    local value_key=$1
+    local regex=$2
+    local error_message=$3
+
+    # Get the value using snapctl
+    local value=$(snapctl get "$value_key")
+
+    # Check if the value matches the regex
+    if ! [[ "$value" =~ $regex ]]; then
+        log_and_echo "'${value}' is not a supported value for '${value_key}'. ${error_message}"
+        exit 1
+    fi
+}
+
+validate_path() {
+    local value_key=$1
+
+    # Get the value using snapctl
+    local config_path=$(snapctl get "$value_key")
+
+    # Check if the path is a valid file
+    if [ ! -f "$config_path" ]; then
+        log_and_echo "The path specified in '$value_key' does not exist: '$config_path'."
+        exit 1
+    fi
+}
+
+validate_ipv4_addr() {
+    local value_key=$1
+
+    # Get the value using snapctl
+    local ip_address=$(snapctl get "$value_key")
+    local ip_address_regex='^(([0-9]{1,3}\.){3}[0-9]{1,3})$'
+
+    if [[ "$ip_address" =~ $ip_address_regex ]]; then
+        # Split the IP address into its parts
+        IFS='.' read -r -a octets <<< "$ip_address"
 
+        # Check each octet
+        for octet in "${octets[@]}"; do
+            if ((octet < 0 || octet > 255)); then
+                log_and_echo "Invalid format for '$value_key'. Each part of the IPv4 address must be between 0 and 255. Received: '$ip_address'."
+                exit 1
+            fi
+        done
+    else
+        log_and_echo "Invalid format for '$value_key'. Expected format: a valid IPv4 address. Received: '$ip_address'."
+        exit 1
+    fi
+}
 
 # Universal function to validate serial ports
 validate_serial_port() {

snap/snapcraft.yaml

@@ -172,6 +172,8 @@ apps:
   joy:
     command: usr/bin/joy_launcher.sh
     command-chain: [usr/bin/ros_setup.sh]
+    daemon: simple
+    install-mode: disable
     environment:
       LD_LIBRARY_PATH: "$SNAP/usr/lib/$SNAPCRAFT_ARCH_TRIPLET/pulseaudio:$LD_LIBRARY_PATH"
     plugs: [hardware-observe, joystick, network, network-bind, shm-plug]