Merge remote-tracking branch 'origin/sl-android/issue-513-phone-joystick'
# Conflicts: # phone/MOTOR_TEST_JOYSTICK.md # phone/motor_test_joystick.py
This commit is contained in:
commit
892d0a2089
120
phone/INSTALL_MOTOR_TEST.md
Normal file
120
phone/INSTALL_MOTOR_TEST.md
Normal file
@ -0,0 +1,120 @@
|
||||
# Motor Test Joystick Installation (Issue #513)
|
||||
|
||||
Quick setup guide for installing motor_test_joystick.py on Termux.
|
||||
|
||||
## Prerequisites
|
||||
|
||||
- Android phone with Termux installed
|
||||
- Python 3.9+ (installed via termux-bootstrap.sh)
|
||||
- ROS2 Humble OR Jetson bridge running on networked Jetson Orin
|
||||
|
||||
## Installation
|
||||
|
||||
### 1. Copy script to phone
|
||||
|
||||
```bash
|
||||
# Option A: Via git
|
||||
cd ~
|
||||
git clone https://gitea.vayrette.com/seb/saltylab-firmware.git
|
||||
|
||||
# Option B: Via adb
|
||||
adb push phone/motor_test_joystick.py /data/data/com.termux/files/home/
|
||||
```
|
||||
|
||||
### 2. Make executable
|
||||
|
||||
```bash
|
||||
chmod +x ~/saltylab-firmware/phone/motor_test_joystick.py
|
||||
```
|
||||
|
||||
## Quick Test
|
||||
|
||||
### 1. Start on phone (Termux)
|
||||
|
||||
**ROS2 mode** (requires Jetson ros_core running):
|
||||
```bash
|
||||
python3 ~/saltylab-firmware/phone/motor_test_joystick.py
|
||||
```
|
||||
|
||||
**WebSocket mode** (if Jetson IP is 192.168.1.100):
|
||||
```bash
|
||||
python3 ~/saltylab-firmware/phone/motor_test_joystick.py \
|
||||
--backend websocket \
|
||||
--host 192.168.1.100
|
||||
```
|
||||
|
||||
### 2. Verify on Jetson
|
||||
|
||||
```bash
|
||||
ros2 topic echo /cmd_vel
|
||||
```
|
||||
|
||||
### 3. Safety test
|
||||
|
||||
1. Move joystick (W key)
|
||||
2. Watch /cmd_vel values change
|
||||
3. Press spacebar (E-stop)
|
||||
4. Verify velocities go to 0.0
|
||||
5. Press Q to quit
|
||||
|
||||
## Configuration
|
||||
|
||||
### Adjust velocity limits
|
||||
|
||||
```bash
|
||||
# Conservative (default)
|
||||
python3 motor_test_joystick.py # 0.1 m/s, 0.3 rad/s
|
||||
|
||||
# Moderate
|
||||
python3 motor_test_joystick.py --linear-max 0.3 --angular-max 0.8
|
||||
|
||||
# Aggressive
|
||||
python3 motor_test_joystick.py --linear-max 0.5 --angular-max 1.5
|
||||
```
|
||||
|
||||
### Change Jetson address
|
||||
|
||||
```bash
|
||||
# Static IP
|
||||
python3 motor_test_joystick.py --backend websocket --host 192.168.1.100
|
||||
|
||||
# mDNS hostname
|
||||
python3 motor_test_joystick.py --backend websocket --host saltybot.local
|
||||
|
||||
# Different port
|
||||
python3 motor_test_joystick.py --backend websocket --host 192.168.1.100 --port 8080
|
||||
```
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
### "ROS2 module not found"
|
||||
→ Use WebSocket backend: `--backend websocket --host <jetson-ip>`
|
||||
|
||||
### "Connection refused" (WebSocket mode)
|
||||
→ Check Jetson IP, verify bridge listening on :9090
|
||||
|
||||
### Motors not responding
|
||||
1. Verify e-stop status (should show "Inactive")
|
||||
2. Check timeout warning (>500ms = zero velocity)
|
||||
3. Monitor Jetson: `ros2 topic echo /cmd_vel`
|
||||
4. Verify network connectivity
|
||||
|
||||
### Terminal display issues
|
||||
- Try `reset` or `stty sane` in Termux
|
||||
- Increase terminal size (pinch-zoom)
|
||||
- Use external keyboard (more reliable)
|
||||
|
||||
## Safety Checklist
|
||||
|
||||
- [ ] Phone connected to Jetson (WiFi/tether)
|
||||
- [ ] Motors disconnected or isolated (bench testing)
|
||||
- [ ] E-stop accessible (spacebar)
|
||||
- [ ] Terminal window visible
|
||||
- [ ] Max velocities appropriate (conservative defaults)
|
||||
- [ ] Kill switch ready (Ctrl+C)
|
||||
|
||||
## Support
|
||||
|
||||
- Main documentation: `MOTOR_TEST_JOYSTICK.md`
|
||||
- Issue tracker: https://gitea.vayrette.com/seb/saltylab-firmware/issues/513
|
||||
- Termux wiki: https://wiki.termux.com/
|
||||
@ -4,13 +4,9 @@ Terminal-based interactive joystick for bench testing SaltyBot motors via Termux
|
||||
|
||||
## Quick Start
|
||||
|
||||
On phone (Termux):
|
||||
```bash
|
||||
# With ROS2 (default, requires ros_core running on Jetson)
|
||||
python3 ~/saltylab-firmware/phone/motor_test_joystick.py
|
||||
|
||||
# With WebSocket (if ROS2 unavailable)
|
||||
python3 ~/saltylab-firmware/phone/motor_test_joystick.py --backend websocket --host <jetson-ip>
|
||||
python3 motor_test_joystick.py # ROS2 mode
|
||||
python3 motor_test_joystick.py --backend websocket --host <jetson-ip> # WebSocket mode
|
||||
```
|
||||
|
||||
## Controls
|
||||
@ -21,157 +17,47 @@ python3 ~/saltylab-firmware/phone/motor_test_joystick.py --backend websocket --h
|
||||
| **S** / **↓** | Reverse (linear -X) |
|
||||
| **A** / **←** | Turn left (angular +Z) |
|
||||
| **D** / **→** | Turn right (angular -Z) |
|
||||
| **SPACE** | E-stop toggle (hold disables motors) |
|
||||
| **R** | Reset velocities to zero |
|
||||
| **SPACE** | E-stop toggle |
|
||||
| **R** | Reset velocities |
|
||||
| **Q** | Quit |
|
||||
|
||||
## Features
|
||||
|
||||
### Real-Time Feedback
|
||||
- Live velocity displays (linear X, angular Z)
|
||||
- Velocity bar graphs with ● indicator
|
||||
- Current input state (before clamping)
|
||||
- Timeout warning (>500ms since last command)
|
||||
- Status message line
|
||||
|
||||
### Safety Features
|
||||
- **E-stop button** (spacebar): Instantly zeros velocity, toggle on/off
|
||||
- **Timeout safety**: 500ms without command → sends zero velocity
|
||||
- **Velocity ramping**: Input decays exponentially (95% per frame)
|
||||
- **Conservative defaults**: 0.1 m/s linear, 0.3 rad/s angular
|
||||
- **Graceful fallback**: WebSocket if ROS2 unavailable
|
||||
|
||||
### Dual Backend Support
|
||||
- **ROS2 (primary)**: Publishes directly to `/cmd_vel` topic
|
||||
- **WebSocket (fallback)**: JSON messages to Jetson bridge (port 9090)
|
||||
- Real-time velocity feedback with bar graphs
|
||||
- Spacebar e-stop (instantly zeros velocity)
|
||||
- 500ms timeout safety (sends zero if idle)
|
||||
- Conservative defaults: 0.1 m/s linear, 0.3 rad/s angular
|
||||
- Dual backend: ROS2 (/cmd_vel) or WebSocket
|
||||
- Graceful fallback if ROS2 unavailable
|
||||
|
||||
## Usage Examples
|
||||
|
||||
### Standard ROS2 mode (Jetson has ros_core)
|
||||
```bash
|
||||
# Standard ROS2 mode
|
||||
python3 motor_test_joystick.py
|
||||
```
|
||||
Sends Twist messages to `/cmd_vel` at ~20Hz
|
||||
|
||||
### WebSocket mode (fallback if no ROS2)
|
||||
```bash
|
||||
# WebSocket mode (fallback)
|
||||
python3 motor_test_joystick.py --backend websocket --host 192.168.1.100
|
||||
```
|
||||
Sends JSON: `{"type": "twist", "linear_x": 0.05, "angular_z": 0.0, "timestamp": 1234567890}`
|
||||
|
||||
### Custom velocity limits
|
||||
```bash
|
||||
# Custom velocity limits
|
||||
python3 motor_test_joystick.py --linear-max 0.5 --angular-max 1.0
|
||||
```
|
||||
Max forward: 0.5 m/s, max turn: 1.0 rad/s
|
||||
|
||||
### Combine options
|
||||
```bash
|
||||
python3 motor_test_joystick.py \
|
||||
--backend websocket \
|
||||
--host saltybot.local \
|
||||
--linear-max 0.2 \
|
||||
--angular-max 0.5
|
||||
```
|
||||
|
||||
## Architecture
|
||||
|
||||
### MotorTestController
|
||||
Main state machine:
|
||||
- Manages velocity state (linear_x, angular_z)
|
||||
- Handles e-stop state
|
||||
- Enforces 500ms timeout
|
||||
- Clamps velocities to max limits
|
||||
- Sends commands to backend
|
||||
- **MotorTestController**: State machine, velocity limiting, timeout enforcement
|
||||
- **MotorTestNode** (ROS2): Twist publisher to /cmd_vel
|
||||
- **WebSocketController** (fallback): JSON messages to Jetson
|
||||
- **Curses UI**: Non-blocking input, real-time feedback, status display
|
||||
|
||||
### Backend Options
|
||||
## Safety
|
||||
|
||||
**ROS2Backend**: Direct Twist publisher
|
||||
- Requires `geometry_msgs` / `rclpy`
|
||||
- Topic: `/cmd_vel`
|
||||
- Spin thread for ros2.spin()
|
||||
|
||||
**WebSocketBackend**: JSON over TCP socket
|
||||
- No ROS2 dependencies
|
||||
- Connects to Jetson:9090 (configurable)
|
||||
- Fallback if ROS2 unavailable
|
||||
|
||||
### Curses UI
|
||||
- Non-blocking input (getch timeout)
|
||||
- 20Hz refresh rate
|
||||
- Color-coded status (green=ok, red=estop/timeout, yellow=bars)
|
||||
- Real-time velocity bars
|
||||
- Exponential input decay (95% per frame)
|
||||
|
||||
## Terminal Requirements
|
||||
|
||||
- **Size**: Minimum 80×25 characters (larger is better for full feedback)
|
||||
- **Colors**: 256-color support (curses.init_pair)
|
||||
- **Non-blocking I/O**: ncurses.nodelay()
|
||||
- **Unicode**: ● symbol (optional, falls back to ASCII)
|
||||
|
||||
### Test in Termux
|
||||
```bash
|
||||
stty size # Should show >= 25 lines
|
||||
echo $TERM # Should be xterm-256color or similar
|
||||
```
|
||||
|
||||
## Performance
|
||||
|
||||
| Metric | Value | Notes |
|
||||
|--------|-------|-------|
|
||||
| **UI Refresh** | 20 Hz | Non-blocking, timeout-based |
|
||||
| **Command Rate** | 20 Hz | Updated per frame |
|
||||
| **Timeout Safety** | 500ms | Zero velocity if no input |
|
||||
| **Input Decay** | 95% per frame | Smooth ramp-down |
|
||||
| **Max Linear** | 0.1 m/s (default) | Conservative for bench testing |
|
||||
| **Max Angular** | 0.3 rad/s (default) | ~17°/s rotation |
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
### "ROS2 module not found"
|
||||
→ Run with `--backend websocket` instead
|
||||
|
||||
### "Connection refused" (WebSocket mode)
|
||||
→ Check Jetson IP with `--host <ip>`, verify bridge listening on :9090
|
||||
|
||||
### Motors not responding
|
||||
1. Check e-stop status (should show "Inactive")
|
||||
2. Verify timeout warning (>500ms = zero velocity sent)
|
||||
3. Check Jetson `/cmd_vel` subscription: `ros2 topic echo /cmd_vel`
|
||||
4. Verify network connectivity (WiFi/tethering)
|
||||
|
||||
### Terminal artifacts / display issues
|
||||
- Try `reset` or `stty sane` in Termux
|
||||
- Increase terminal size (pinch-zoom)
|
||||
- Use `--backend websocket` (simpler UI fallback)
|
||||
|
||||
## Safety Checklist Before Testing
|
||||
|
||||
- [ ] Phone connected to Jetson (WiFi or USB tether)
|
||||
- [ ] Motors disconnected or isolated (bench testing mode)
|
||||
- [ ] E-stop accessible (spacebar, always reachable)
|
||||
- [ ] Terminal window visible (no hide/scroll)
|
||||
- [ ] Max velocities appropriate (start conservative: 0.1/0.3)
|
||||
- [ ] Kill switch ready (Ctrl+C, or `ros2 topic pub --once /cmd_vel ...`)
|
||||
|
||||
## Future Enhancements
|
||||
|
||||
- [ ] Gamepad/joystick input (evdev) instead of keyboard
|
||||
- [ ] Configurable button mappings
|
||||
- [ ] Velocity profile presets (slow/medium/fast)
|
||||
- [ ] Motor current feedback from motor driver
|
||||
- [ ] Telemetry logging (CSV) for bench analysis
|
||||
- [ ] Multi-motor independent control
|
||||
- Conservative defaults (0.1/0.3 m/s)
|
||||
- E-stop button (spacebar)
|
||||
- 500ms timeout (auto-zero velocity)
|
||||
- Input clamping & exponential decay
|
||||
|
||||
## Related Issues
|
||||
|
||||
- **#420** — Termux bootstrap & Android phone node
|
||||
- **#508** — Face LCD animations (separate system)
|
||||
- **#512** — Autonomous arming (uses /cmd_vel via motor bridge)
|
||||
|
||||
## References
|
||||
|
||||
- [ROS2 Humble - geometry_msgs/Twist](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Different-Distributions.html)
|
||||
- [Termux - Python environment](https://wiki.termux.com/wiki/Python)
|
||||
- [ncurses - Curses module](https://docs.python.org/3/library/curses.html)
|
||||
- #420 — Termux bootstrap & Android phone node
|
||||
- #512 — Autonomous arming (uses /cmd_vel)
|
||||
|
||||
@ -12,10 +12,9 @@ Controls:
|
||||
|
||||
Features:
|
||||
- Conservative velocity defaults: 0.1 m/s linear, 0.3 rad/s angular
|
||||
- Real-time velocity feedback display (current, max, min)
|
||||
- Real-time velocity feedback display
|
||||
- 500ms timeout safety: stops motors if no command received
|
||||
- Graceful fallback if ROS2 unavailable (WebSocket to Jetson)
|
||||
- Terminal UI: velocity bars, input prompt, status line
|
||||
- Terminal UI: velocity bars, status line, e-stop indicator
|
||||
"""
|
||||
|
||||
import curses
|
||||
@ -24,7 +23,6 @@ import time
|
||||
import argparse
|
||||
import sys
|
||||
from dataclasses import dataclass
|
||||
from typing import Optional
|
||||
from enum import Enum
|
||||
|
||||
# Try to import ROS2; fall back to WebSocket if unavailable
|
||||
@ -48,8 +46,8 @@ POLL_RATE_HZ = 20 # UI update rate
|
||||
@dataclass
|
||||
class VelocityState:
|
||||
"""Current velocity state"""
|
||||
linear_x: float = 0.0 # m/s
|
||||
angular_z: float = 0.0 # rad/s
|
||||
linear_x: float = 0.0
|
||||
angular_z: float = 0.0
|
||||
max_linear: float = DEFAULT_LINEAR_VEL
|
||||
max_angular: float = DEFAULT_ANGULAR_VEL
|
||||
estop_active: bool = False
|
||||
@ -103,7 +101,6 @@ class WebSocketController:
|
||||
"""Send Twist via JSON over WebSocket"""
|
||||
if not self.connected:
|
||||
return
|
||||
|
||||
try:
|
||||
msg = {
|
||||
"type": "twist",
|
||||
@ -160,7 +157,7 @@ class MotorTestController:
|
||||
linear_x = 0.0
|
||||
angular_z = 0.0
|
||||
|
||||
# Check timeout (500ms)
|
||||
# Check timeout
|
||||
if time.time() - self.state.last_command_time > TIMEOUT_MS / 1000.0:
|
||||
linear_x = 0.0
|
||||
angular_z = 0.0
|
||||
@ -186,11 +183,9 @@ class MotorTestController:
|
||||
def shutdown(self):
|
||||
"""Clean shutdown"""
|
||||
self.running = False
|
||||
# Send zero velocity
|
||||
self.update_velocity(0.0, 0.0)
|
||||
time.sleep(0.1)
|
||||
|
||||
# Cleanup backend
|
||||
if isinstance(self.backend_obj, MotorTestNode):
|
||||
self.node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
@ -201,9 +196,9 @@ class MotorTestController:
|
||||
# === Curses UI ===
|
||||
def run_joystick_ui(stdscr, controller: MotorTestController):
|
||||
"""Main curses event loop"""
|
||||
curses.curs_set(0) # Hide cursor
|
||||
stdscr.nodelay(1) # Non-blocking getch()
|
||||
stdscr.timeout(int(1000 / POLL_RATE_HZ)) # Refresh rate
|
||||
curses.curs_set(0)
|
||||
stdscr.nodelay(1)
|
||||
stdscr.timeout(int(1000 / POLL_RATE_HZ))
|
||||
|
||||
# Color pairs
|
||||
curses.init_pair(1, curses.COLOR_GREEN, curses.COLOR_BLACK)
|
||||
@ -212,7 +207,7 @@ def run_joystick_ui(stdscr, controller: MotorTestController):
|
||||
|
||||
linear_input = 0.0
|
||||
angular_input = 0.0
|
||||
status_msg = "Ready for motor test. Press W/A/S/D to control, SPACE to e-stop, Q to quit."
|
||||
status_msg = "Ready. W/A/S/D=control, SPACE=estop, Q=quit"
|
||||
|
||||
try:
|
||||
while controller.running:
|
||||
@ -241,13 +236,12 @@ def run_joystick_ui(stdscr, controller: MotorTestController):
|
||||
angular_input = min(angular_input + 0.02, DEFAULT_ANGULAR_VEL)
|
||||
status_msg = f"Left: {angular_input:.2f} rad/s"
|
||||
elif key == ord('r') or key == ord('R'):
|
||||
# Reset velocities
|
||||
linear_input = 0.0
|
||||
angular_input = 0.0
|
||||
status_msg = "Velocities reset to zero"
|
||||
status_msg = "Velocities reset"
|
||||
|
||||
# Apply exponential decay to input (if no new input, ramp down)
|
||||
if key == -1: # No input
|
||||
# Exponential decay
|
||||
if key == -1:
|
||||
linear_input *= 0.95
|
||||
angular_input *= 0.95
|
||||
if abs(linear_input) < 0.01:
|
||||
@ -255,29 +249,25 @@ def run_joystick_ui(stdscr, controller: MotorTestController):
|
||||
if abs(angular_input) < 0.01:
|
||||
angular_input = 0.0
|
||||
|
||||
# Send updated velocity
|
||||
# Send velocity
|
||||
controller.update_velocity(linear_input, angular_input)
|
||||
|
||||
# Render UI
|
||||
stdscr.clear()
|
||||
height, width = stdscr.getmaxyx()
|
||||
|
||||
# Title
|
||||
title = "SaltyBot Motor Test Joystick (Issue #513)"
|
||||
stdscr.addstr(0, (width - len(title)) // 2, title,
|
||||
stdscr.addstr(0, max(0, (width - len(title)) // 2), title,
|
||||
curses.color_pair(1) | curses.A_BOLD)
|
||||
|
||||
# Status line
|
||||
y = 2
|
||||
estop_color = curses.color_pair(2) if controller.state.estop_active else curses.color_pair(1)
|
||||
estop_text = f"E-STOP: {'ACTIVE' if controller.state.estop_active else 'Inactive'}"
|
||||
stdscr.addstr(y, 2, estop_text, estop_color)
|
||||
y += 2
|
||||
|
||||
# Velocity displays
|
||||
stdscr.addstr(y, 2, f"Linear X: {controller.state.linear_x:+7.3f} m/s (max: {DEFAULT_LINEAR_VEL})")
|
||||
y += 1
|
||||
# Bar for linear
|
||||
bar_width = 30
|
||||
bar_fill = int((controller.state.linear_x / DEFAULT_LINEAR_VEL) * (bar_width / 2))
|
||||
bar_fill = max(-bar_width // 2, min(bar_width // 2, bar_fill))
|
||||
@ -287,34 +277,19 @@ def run_joystick_ui(stdscr, controller: MotorTestController):
|
||||
|
||||
stdscr.addstr(y, 2, f"Angular Z: {controller.state.angular_z:+7.3f} rad/s (max: {DEFAULT_ANGULAR_VEL})")
|
||||
y += 1
|
||||
# Bar for angular
|
||||
bar_fill = int((controller.state.angular_z / DEFAULT_ANGULAR_VEL) * (bar_width / 2))
|
||||
bar_fill = max(-bar_width // 2, min(bar_width // 2, bar_fill))
|
||||
bar = "[" + " " * (bar_width // 2 + bar_fill) + "●" + " " * (bar_width // 2 - bar_fill) + "]"
|
||||
stdscr.addstr(y, 2, bar, curses.color_pair(3))
|
||||
y += 2
|
||||
|
||||
# Command input display
|
||||
stdscr.addstr(y, 2, f"Input: Linear={linear_input:+.3f} Angular={angular_input:+.3f}")
|
||||
stdscr.addstr(y, 2, f"Input: L={linear_input:+.3f} A={angular_input:+.3f}")
|
||||
y += 2
|
||||
|
||||
# Controls legend
|
||||
stdscr.addstr(y, 2, "Controls:")
|
||||
y += 1
|
||||
stdscr.addstr(y, 2, " W/↑ = Forward S/↓ = Reverse A/← = Left D/→ = Right")
|
||||
y += 1
|
||||
stdscr.addstr(y, 2, " SPACE = E-stop (toggle) R = Reset Q = Quit")
|
||||
stdscr.addstr(y, 2, "W/↑=Forward S/↓=Reverse A/←=Left D/→=Right SPACE=E-stop R=Reset Q=Quit")
|
||||
y += 2
|
||||
|
||||
# Status message
|
||||
stdscr.addstr(y, 2, f"Status: {status_msg[:width-10]}", curses.color_pair(1))
|
||||
y += 2
|
||||
|
||||
# Timeout warning
|
||||
time_since_cmd = time.time() - controller.state.last_command_time
|
||||
if time_since_cmd > (TIMEOUT_MS / 1000.0):
|
||||
warning = f"TIMEOUT: Motors disabled ({time_since_cmd:.1f}s since last command)"
|
||||
stdscr.addstr(y, 2, warning, curses.color_pair(2))
|
||||
|
||||
stdscr.refresh()
|
||||
|
||||
@ -327,47 +302,25 @@ def main():
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Terminal-based motor test joystick for SaltyBot (Issue #513)"
|
||||
)
|
||||
parser.add_argument(
|
||||
"--backend",
|
||||
choices=["ros2", "websocket"],
|
||||
default="ros2",
|
||||
help="Communication backend (default: ros2)"
|
||||
)
|
||||
parser.add_argument(
|
||||
"--host",
|
||||
default="127.0.0.1",
|
||||
help="Jetson hostname/IP (for WebSocket backend)"
|
||||
)
|
||||
parser.add_argument(
|
||||
"--port",
|
||||
type=int,
|
||||
default=9090,
|
||||
help="Jetson port (for WebSocket backend)"
|
||||
)
|
||||
parser.add_argument(
|
||||
"--linear-max",
|
||||
type=float,
|
||||
default=DEFAULT_LINEAR_VEL,
|
||||
help=f"Max linear velocity (default: {DEFAULT_LINEAR_VEL} m/s)"
|
||||
)
|
||||
parser.add_argument(
|
||||
"--angular-max",
|
||||
type=float,
|
||||
default=DEFAULT_ANGULAR_VEL,
|
||||
help=f"Max angular velocity (default: {DEFAULT_ANGULAR_VEL} rad/s)"
|
||||
)
|
||||
parser.add_argument("--backend", choices=["ros2", "websocket"], default="ros2",
|
||||
help="Communication backend (default: ros2)")
|
||||
parser.add_argument("--host", default="127.0.0.1",
|
||||
help="Jetson hostname/IP (for WebSocket backend)")
|
||||
parser.add_argument("--port", type=int, default=9090,
|
||||
help="Jetson port (for WebSocket backend)")
|
||||
parser.add_argument("--linear-max", type=float, default=DEFAULT_LINEAR_VEL,
|
||||
help=f"Max linear velocity (default: {DEFAULT_LINEAR_VEL} m/s)")
|
||||
parser.add_argument("--angular-max", type=float, default=DEFAULT_ANGULAR_VEL,
|
||||
help=f"Max angular velocity (default: {DEFAULT_ANGULAR_VEL} rad/s)")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Select backend
|
||||
backend = ControllerBackend.WEBSOCKET if args.backend == "websocket" else ControllerBackend.ROS2
|
||||
|
||||
# Create controller
|
||||
controller = MotorTestController(backend=backend)
|
||||
controller.state.max_linear = args.linear_max
|
||||
controller.state.max_angular = args.angular_max
|
||||
|
||||
# Run UI
|
||||
try:
|
||||
curses.wrapper(run_joystick_ui, controller)
|
||||
except KeyboardInterrupt:
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user