update

launch/joystick.launch.py

@@ -24,16 +24,7 @@ def generate_launch_description():
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
             remappings=[('/cmd_vel','/cmd_vel_joy')]
          )
-
+    
-    # twist_stamper = Node(
-    #         package='twist_stamper',
-    #         executable='twist_stamper',
-    #         parameters=[{'use_sim_time': use_sim_time}],
-    #         remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
-    #                     ('/cmd_vel_out','/diff_cont/cmd_vel')]
-    #      )
-
-
     return LaunchDescription([
         DeclareLaunchArgument(
             'use_sim_time',
@@ -41,5 +32,4 @@ def generate_launch_description():
             description='Use sim time if true'),
         joy_node,
         teleop_node,
-        # twist_stamper       
     ])

launch/robot_controller.launch.py

@@ -0,0 +1,23 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    
+    control_node = Node(
+            package='segwayrmp',
+            executable='SmartCar',
+            name='SmartCar',
+            remappings=[('/cmd_vel','/cmd_vel_out')]
+         )
+
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use sim time if true'),
+        control_node     
+    ])

launch/robot_joystick.launch.py

@@ -0,0 +1,135 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration, Command, FindExecutable, PathJoinSubstitution
+from launch.actions import DeclareLaunchArgument
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.descriptions import ParameterValue
+from launch_ros.actions import LifecycleNode
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
+
+    joy_node = Node(
+            package='joy',
+            executable='joy_node',
+            parameters=[joy_params, {'use_sim_time': use_sim_time}],
+         )
+
+    teleop_node = Node(
+            package='teleop_twist_joy',
+            executable='teleop_node',
+            name='teleop_node',
+            parameters=[joy_params, {'use_sim_time': use_sim_time}],
+            remappings=[('/cmd_vel','/cmd_vel_joy')]
+         )
+    
+    twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
+    twist_mux = Node(
+            package="twist_mux",
+            executable="twist_mux",
+            parameters=[twist_mux_params, {'use_sim_time': False}],
+            #remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
+        )
+    
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use sim time if true'),
+        joy_node,
+        teleop_node,
+    ])
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop",
+        remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
+    twist_mux = Node(
+            package="twist_mux",
+            executable="twist_mux",
+            parameters=[twist_mux_params, {'use_sim_time': False}],
+            remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
+        )
+
+    return LaunchDescription([
+        twist_mux
+    ])

launch/robot_lidar.launch.py

@@ -7,14 +7,14 @@ def generate_launch_description():
     return LaunchDescription([
 
         Node(
-            package='rplidar_ros',
+            package='sllidar_ros2',
-            executable='rplidar_composition',
+            executable='view_sllidar_launch',
             output='screen',
             parameters=[{
-                'serial_port': '/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0-port0',
+                'serial_port': 'usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_3453995662b3af4f81f4a69eba5f3f29-if00-port0',
                 'frame_id': 'laser_frame',
                 'angle_compensate': True,
-                'scan_mode': 'Standard'
+                'scan_mode': 'Sensitivity'
             }]
         )
     ])