working with joy setup - WIP

snap/hooks/install

@@ -35,6 +35,8 @@ cp -r $SNAP/usr/share/rosbot-xl/config/teleop_twist_joy_params.yaml ${SNAP_COMMO
 
 # copy joy params
 cp -r $SNAP/usr/share/rosbot-xl/config/joy_servo.yaml ${SNAP_COMMON}/
+cp -r $SNAP/usr/share/rosbot-xl/config/joy_teleop.config.yaml ${SNAP_COMMON}/
+cp -r $SNAP/usr/share/rosbot-xl/config/joy_params.yaml ${SNAP_COMMON}/
 
 # copy webui layouts
 cp -r $SNAP/usr/share/$SNAP_NAME/config/foxglove-*.json ${SNAP_COMMON}/

snap/local/arm_activate_launcher.sh

@@ -0,0 +1,7 @@
+#!/bin/bash -e
+
+STATE=$1
+
+ros2 service call /controller_manager/set_hardware_component_state \
+    controller_manager_msgs/srv/SetHardwareComponentState \
+    "{name: 'manipulator', target_state: {id: 0, label: '${STATE}'}}"

snap/local/joy_launcher.sh

@@ -0,0 +1,19 @@
+#!/bin/bash -e
+
+ros2 run joy joy_node --ros-args --params-file $SNAP_COMMON/joy_params.yaml
+
+# # Retrieve the namespace using snapctl
+# NAMESPACE="$(snapctl get ros.namespace)"
+
+# # Check if NAMESPACE is not set or is empty
+# if [ -z "$NAMESPACE" ]; then
+#     # No namespace is set, run the launch command without the namespace argument
+#     ros2 launch teleop_twist_joy teleop-launch.py \
+#         config_filepath:=$SNAP_COMMON/joy_teleop.config.yaml
+#     # ros2 launch teleop_twist_joy teleop-launch.py
+# else
+#     # Namespace is set, include it in the launch command
+#     ros2 launch teleop_twist_joy teleop-launch.py \
+#         config_filepath:=$SNAP_COMMON/joy_teleop.config.yaml --ros-args -r __ns:=/$NAMESPACE
+#     # ros2 launch teleop_twist_joy teleop-launch.py --ros-args -r __ns:=/$NAMESPACE
+# fi

snap/local/joy_params.yaml

@@ -0,0 +1,6 @@
+joy_node:
+  ros__parameters:
+    dev: "/dev/input/js0"  # Replace with your joystick device
+    deadzone: 0.1
+    autorepeat_rate: 20.0
+    # dev_ff: "/dev/input/event18" # based on evtest

snap/local/joy_teleop.config.yaml

@@ -0,0 +1,26 @@
+# joy_node:
+#   ros__parameters:
+#     device_id: 4
+#     device_name: "''"
+#     deadzone: 0.5
+#     autorepeat_rate: 20.0
+#     sticky_buttons: false
+#     coalesce_interval_ms: 1
+---
+/**:
+  ros__parameters:
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.7
+    scale_linear_turbo:
+      x: 1.5
+
+    axis_angular:
+      yaw: 2
+    scale_angular:
+      yaw: 0.4
+
+    require_enable_button: true
+    enable_button: 4  # TL shoulder button
+    enable_turbo_button: -1  # disabled

snap/snapcraft.yaml

@@ -169,6 +169,29 @@ apps:
     slots: [shm-slot]
     extensions: [ros2-humble-ros-base]
 
+  joy:
+    command: usr/bin/joy_launcher.sh
+    command-chain: [usr/bin/ros_setup.sh]
+    environment:
+      LD_LIBRARY_PATH: "$SNAP/usr/lib/$SNAPCRAFT_ARCH_TRIPLET/pulseaudio:$LD_LIBRARY_PATH"
+    plugs: [hardware-observe, joystick, network, network-bind, shm-plug]
+    slots: [shm-slot]
+    extensions: [ros2-humble-ros-base]
+
+  arm-activate:
+    command: usr/bin/arm_activate_launcher.sh active
+    command-chain: [usr/bin/ros_setup.sh]
+    plugs: [network, network-bind, shm-plug]
+    slots: [shm-slot]
+    extensions: [ros2-humble-ros-base]
+
+  arm-disactivate:
+    command: usr/bin/arm_activate_launcher.sh inactive
+    command-chain: [usr/bin/ros_setup.sh]
+    plugs: [network, network-bind, shm-plug]
+    slots: [shm-slot]
+    extensions: [ros2-humble-ros-base]
+
   print-serial-number:
     command: usr/bin/serial_number_launcher.sh
     command-chain: [usr/bin/ros_setup.sh]