update

scripts/ps4_controller_script.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+# Change directory to where docker-compose.yml is located
+cd /home/bjorn/git/cps_loki
+
+# Restart the teleop service using docker-compose
+docker compose restart teleop

scripts/setup.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+# copy script to a system directory
+sudo cp ps4_controller_script.sh /etc/udev/rules.d
+
+# Set execute permissions for the script
+sudo chmod +x /etc/udev/rules.d/ps4_controller_script.sh
+
+# Create or append the udev rule
+echo 'ACTION=="add", SUBSYSTEM=="input", ATTRS{name}=="Wireless Controller", RUN+="/etc/udev/rules.d/ps4_controller_script.sh"' | sudo tee /etc/udev/rules.d/99-ps4-controller.rules
+
+# Reload udev rules
+sudo udevadm control --reload-rules
+
+# Provide user feedback
+echo "Setup completed. PS4 controller udev rule installed."

webcam.launch.py

@@ -1,88 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import TextSubstitution
-
-def generate_launch_description():
-    # Declare launch arguments
-    video_device_arg = DeclareLaunchArgument(
-        'video_device', default_value='/dev/video0',
-        description='Video device path')
-
-    pixel_format_arg = DeclareLaunchArgument(
-        'pixel_format', default_value='YUYV',
-        description='Pixel format')
-
-    output_encoding_arg = DeclareLaunchArgument(
-        'output_encoding', default_value='yuv422_yuy2',
-        description='Output encoding')
-
-    image_size_arg = DeclareLaunchArgument(
-        'image_size', default_value='[640, 480]',
-        description='Image size')
-
-    camera_frame_id_arg = DeclareLaunchArgument(
-        'camera_frame_id', default_value='camera_optical_link',
-        description='Camera frame ID')
-
-    params_file_arg = DeclareLaunchArgument(
-        'params_file', default_value='',
-        description='Path to the parameters file')
-
-    device_namespace_arg = DeclareLaunchArgument(
-        'device_namespace', default_value='camera',
-        description='Device namespace')
-
-    ffmpeg_encoding_arg = DeclareLaunchArgument(
-        'ffmpeg_encoding', default_value='libx264',
-        description='FFMPEG encoding')
-
-    ffmpeg_preset_arg = DeclareLaunchArgument(
-        'ffmpeg_preset', default_value='ultrafast',
-        description='FFMPEG preset')
-
-    ffmpeg_tune_arg = DeclareLaunchArgument(
-        'ffmpeg_tune', default_value='zerolatency',
-        description='FFMPEG tune')
-
-    # v4l2_camera node configuration
-    v4l2_camera_node = Node(
-        package='v4l2_camera',
-        executable='v4l2_camera_node',
-        name='camera',
-        namespace=LaunchConfiguration('device_namespace'),
-        parameters=[
-            {
-                'video_device': LaunchConfiguration('video_device'),
-                'pixel_format': LaunchConfiguration('pixel_format'),
-                'output_encoding': LaunchConfiguration('output_encoding'),
-                'image_size': LaunchConfiguration('image_size'),
-                'camera_frame_id': LaunchConfiguration('camera_frame_id'),
-                'camera_name': LaunchConfiguration('device_namespace'),
-                'camera_link_frame_id': [LaunchConfiguration('device_namespace'), TextSubstitution(text='_link')],
-                'ffmpeg_image_transport.encoding': LaunchConfiguration('ffmpeg_encoding'),
-                'ffmpeg_image_transport.preset': LaunchConfiguration('ffmpeg_preset'),
-                'ffmpeg_image_transport.tune': LaunchConfiguration('ffmpeg_tune'),
-            },
-            LaunchConfiguration('params_file')
-        ],
-        # Add any necessary remappings here
-    )
-
-    # Assemble the launch description
-    return LaunchDescription([
-        video_device_arg,
-        pixel_format_arg,
-        output_encoding_arg,
-        image_size_arg,
-        camera_frame_id_arg,
-        params_file_arg,
-        device_namespace_arg,
-        ffmpeg_encoding_arg,
-        ffmpeg_preset_arg,
-        ffmpeg_tune_arg,
-        v4l2_camera_node
-    ])
-