A set of generic teleoperation tools for any robot.
A set of generic teleoperation tools for any robot.
This contains the following teleoperation tools:
joy_teleop, a generic joystick interface for topics and actionskey_teleop, a lightweight console keyboard teleoperation utilitymouse_teleop, a pointing device (e.g. mouse, touchpad) teleoperation utility
rosrun key_teleop key_teleop.py gives me
File "~/catkin_ws/src/teleop_tools/key_teleop/scripts/key_teleop.py", line 63
raise ValueError, 'lineno out of bounds'
^
SyntaxError: invalid syntax
Unfortunately I know nothing of Python, so I can't help. I do know there's this big Python3 vs Python 2 thing. And python --version gives me Python 3.7.2 so is that it?
I'm trying to set-up a topic command that publishes a std_msgs/msg/Empty message. Here's the relevant snippet (under ros__parameters):
dock:
type: topic
interface_type: std_msgs/msg/Empty
topic_name: dock
deadman_buttons: [3] # X button
message_value: {}
The issue I'm having is that the empty mapping under message_value gets transformed into None when ROS loads the values from the YAML configuration file. Would there be another way of letting joy_teleop know that no fields have to be set for the message it will publish?
For the time being, I've modified my local repository to ignore the message_value field if it is None. I could send that as a PR, but I also wonder is this isn't something that should be fixed "upstream" (rclpy?) so that users can, in general, use empty dictionaries.
OS: Ubuntu 22.04
ROS_DISTRO: ROS2 Humble
Arch: AMD64 / x86-64
When holding down the arrow keys, the input momentarily reads and publishes a 0.0 value. This occurs every time i hold down and arrow key and is reproducible on the version of keyboard teleop in this repo.
In this gif, I cycle through each arrow key and hold it down for several seconds. Notice that the output value momentarily goes to 0.0 and then recovers.
Please consider releasing this repository for the recently announced ROS Eloquent distro.
I was wondering what are the release plans for melodic. I have cloned the repo and it compiles without problems. I have tested key_teleop and is working too.
@artivis - in both the source repo and ros-testing Debians on ROS Dashing, I receive this warning every time I launch the node:
[joy_teleop-2] [WARN] [joy_teleop]: parameter use_sim_time is not a dict
use_sim_time is a standard parameter supplied to every node at launch-time. If unset or set to False, the node should use system time, True to use sim_time.
Regardless of whether this node handles use_sim_time itself, it should handle the param more gracefully than throwing a warning in this codeblock:
https://github.com/ros-teleop/teleop_tools/blob/dashing-devel/joy_teleop/joy_teleop/joy_teleop.py#L75-L95
I run joystick_drivers's joy node, that publishes on topic /joy with BEST_EFFORT QoS setting.
However, this node subscribes with RELIABLE QoS setting, thus the subscription won't work.
Since the packages that modifies (see above) the default QoS is this one, I open an issue on this repo.
If you want, I can test and push a PR where subscription reliability is parametrized. Let me know if there are alternative solutions.
EDIT: sorry, now for some reason I can see that both pub and sub are RELIABLE
Hi Bence,
When using a joystick with less number of axis than configured in the yaml, joy_teleop drops some exceptions like
[ERROR] [WallTime: 1458832204.233291] bad callback: <bound method JoyTeleop.joy_callback of <__main__.JoyTeleop instance at 0x7fb0c71aa830>>
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
cb(msg)
File "/home/rescube/r16_ws/src/teleop_tools/joy_teleop/scripts/joy_teleop.py", line 66, in joy_callback
self.run_command(c, data)
File "/home/rescube/r16_ws/src/teleop_tools/joy_teleop/scripts/joy_teleop.py", line 157, in run_command
self.run_topic(command, joy_state)
File "/home/rescube/r16_ws/src/teleop_tools/joy_teleop/scripts/joy_teleop.py", line 184, in run_topic
val = joy_state.axes[mapping['axis']] * mapping.get('scale', 1.0) + mapping.get('offset', 0.0)
IndexError: tuple index out of range
I believe handling the situation with a message like "Joystick has no axis #3, check your configuration, or input device." would make joy_teleop user friendlier.
:)
@clalancette which distros would you like me to push releases to? Eloquent & Foxy?
Hi,
I am trying to use your node and I notice that there isn't any launch file nor are there instructions on how to launch the package. Is it just a hidden secret on how to launch this or...
The function joy_teleop.fill_msg(self, msg, values) does not correctly build ROS message types of the form:
string name
geometry_msgs/Pose2D[] poses
from the the provided yaml excerpt:
action_goal:
name: odom
poses:
- x: 2.0
y: 0.0
theta: 0.0
- x: 2.0
y: -2.0
theta: 0
- x: 0.0
y: -2.0
theta: 0
The code should instead use the function genpy.message.fill_message_args which will correctly load the above yaml to the message.
Joy node maps buttons and axes differently for example xbox controller on different OSs. Is there any way to make an axis act as a button with some kind of threshold? Or would this be outside the scope of this node?
Would you mind releasing these packages also for the newest distribution ROS Noetic? :)
Maybe after #43?
We wanted to use a joystick without deadman switch, but removing the configuration "deadman_buttons" is not possible (the joy_teleop node crashes during startup).
It would be nice to allow configuration without the deadman_buttons.
It seems like the prebuilt packages on packages.ros.org are broken and don't contain any executables.
$ ls /opt/ros/noetic/share/key_teleop/*
/opt/ros/noetic/share/key_teleop/package.xml
/opt/ros/noetic/share/key_teleop/cmake:
key_teleopConfig-version.cmake key_teleopConfig.cmake
The reported package size in the packages.ros.org Release file is also suspiciously small
Package: ros-noetic-key-teleop
Version: 0.4.0-1focal.20220107.000436
Architecture: amd64
Maintainer: Bence Magyar <[email protected]>
Installed-Size: 36
Depends: ros-noetic-geometry-msgs, ros-noetic-rospy
Priority: optional
Section: misc
Filename: pool/main/r/ros-noetic-key-teleop/ros-noetic-key-teleop_0.4.0-1focal.20220107.000436_amd64.deb
Size: 6948
SHA256: e74698a0f43495206e6e63ec4a6dbf1a80a815c15e21fc325fbefe7a9340883e
SHA1: 243c2f61ba6a586d7ab6e1c73166f55265fefb65
MD5sum: 7078467ce29d1bc1503f5a95b161fe5b
Description: A text-based interface to send a robot movement commands
Are there any plans to fix this or is the only way to build from source?
After cloning this package to the workspace, I get the following error when trying to build.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)
-- Configuring incomplete, errors occurred!
See also "/home/ci/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ci/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
I might be doing something wrong, even looking at the source code I can't figure out how to get it to work like I want:
I press button, hold down, then move the robot around with joy axes, then stop axes, robot stops release button -> all is ok.
But if I'm moving the robot with the axes, then release the button, the robot keeps moving for a while until I believe my engine controller stops moving because it stops receiving cmd_vel commands, i.e. it never receives a cmd_vel with target velocity of 0.
I was using joy_teleop before and it worked this way, the cmd_vel 0 was sent on button release.
Now this teleop tools seems more flexible and useful for me.
In any case I can send a PR to support this if it will be welcomed.
Relevant config is just this:
teleop:
joy_move:
type: topic
message_type: geometry_msgs/Twist
topic_name: cmd_vel
deadman_buttons: [4]
axis_mappings:
-
axis: 1
target: linear.x
scale: 0.7
-
axis: 0
target: angular.z
scale: 0.5Compilation in ROS Melodic
Hi!
When I try to compile it in melodic, i get the error bellow. Has anyone seen this before?
[build] Found '18' packages in 0.0 seconds.
[build] Package table is up to date.
[build] Warning: Skipping package key_teleop because it has an unsupported package build type: ament_python
[build] Note: Available build types:
[build] - catkin
[build] - cmake
[build] Warning: Skipping package mouse_teleop because it has an unsupported package build type: ament_python
[build] Note: Available build types:
[build] - catkin
[build] - cmake
[build] Warning: Skipping package teleop_tools because it has an unsupported package build type: ament_cmake
[build] Note: Available build types:
[build] - catkin
[build] - cmake
[build] Warning: Skipping package teleop_tools_msgs because it has an unsupported package build type: ament_cmake
[build] Note: Available build types:
[build] - catkin
[build] - cmake
Abandoned <<< bebop_tools [ Depends on unknown jobs: teleop_tools_msgs ]
Abandoned <<< joy_teleop [ Depends on unknown jobs: teleop_tools_msgs ]
Starting >>> avoidance
Starting >>> bebop_description
Starting >>> bebop_msgs
Starting >>> planers
Starting >>> point_cloud_io
Starting >>> pplanner
Starting >>> simulador_uav
Finished <<< bebop_description [ 2.2 seconds ]
Finished <<< planers [ 5.4 seconds ]
Finished <<< point_cloud_io [ 6.4 seconds ]
Finished <<< simulador_uav [ 14.8 seconds ]
Finished <<< bebop_msgs [ 15.9 seconds ]
Starting >>> bebop_driver
Finished <<< pplanner [ 15.8 seconds ]
Finished <<< avoidance [ 15.9 seconds ]
Starting >>> global_planner
Starting >>> local_planner
Starting >>> safe_landing_planner
Finished <<< bebop_driver [ 3.1 seconds ]
Finished <<< safe_landing_planner [ 8.3 seconds ]
Finished <<< global_planner [ 8.8 seconds ]
Finished <<< local_planner [ 8.8 seconds ]
[build] Summary: 11 of 13 packages succeeded.
[build] Ignored: 5 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 2 packages were abandoned.
[build] Failed: None.
[build] Runtime: 26.1 seconds total.
sudo apt-get install ros-dashing-teleop-tools
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:
ros-dashing-joy-teleop ros-dashing-key-teleop ros-dashing-teleop-tools-msgs ros-dashing-trajectory-msgs
The following NEW packages will be installed:
ros-dashing-joy-teleop ros-dashing-key-teleop ros-dashing-teleop-tools ros-dashing-teleop-tools-msgs
ros-dashing-trajectory-msgs
0 upgraded, 5 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B/390 kB of archives.
After this operation, 4,335 kB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Selecting previously unselected package ros-dashing-teleop-tools-msgs.
(Reading database ... 390962 files and directories currently installed.)
Preparing to unpack .../ros-dashing-teleop-tools-msgs_1.0.0-0bionic.20190911.135253_amd64.deb ...
Unpacking ros-dashing-teleop-tools-msgs (1.0.0-0bionic.20190911.135253) ...
Selecting previously unselected package ros-dashing-trajectory-msgs.
Preparing to unpack .../ros-dashing-trajectory-msgs_0.7.0-1bionic.20190911.145240_amd64.deb ...
Unpacking ros-dashing-trajectory-msgs (0.7.0-1bionic.20190911.145240) ...
Selecting previously unselected package ros-dashing-joy-teleop.
Preparing to unpack .../ros-dashing-joy-teleop_1.0.0-0bionic.20190911.145914_amd64.deb ...
Unpacking ros-dashing-joy-teleop (1.0.0-0bionic.20190911.145914) ...
Preparing to unpack .../ros-dashing-key-teleop_1.0.0-0bionic.20190911.142910_amd64.deb ...
Unpacking ros-dashing-key-teleop (1.0.0-0bionic.20190911.142910) ...
dpkg: error processing archive /var/cache/apt/archives/ros-dashing-key-teleop_1.0.0-0bionic.20190911.142910_amd64.deb (--unpack):
trying to overwrite '/opt/ros/dashing/lib/python3.6/site-packages/scripts/init.py', which is also in package ros-dashing-joy-teleop 1.0.0-0bionic.20190911.145914
Selecting previously unselected package ros-dashing-teleop-tools.
Preparing to unpack .../ros-dashing-teleop-tools_1.0.0-0bionic.20190911.145955_amd64.deb ...
Unpacking ros-dashing-teleop-tools (1.0.0-0bionic.20190911.145955) ...
Errors were encountered while processing:
/var/cache/apt/archives/ros-dashing-key-teleop_1.0.0-0bionic.20190911.142910_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
Hi,
I was previously using branch melodic-devel but git pull on it started failing today. I also checked your branches on github and it seems like the branch is no longer there - could you please advise what to do?
At this moment mouse_teleop has no documentation on the ROS wiki: http://wiki.ros.org/teleop_tools
ros2ci or industrial_ci could work with gh actions
Can take inspiration from how https://github.com/ros-controls/ros2_control/tree/master/.github/workflows is set up
Affects eloquent-devel and higher
On foxy-devel branch, built from source, I see several warnings like this then the node dies:
joy_teleop.joy_teleop.JoyTeleopException: Axis mapping for 'walk' must have an offset
I'm loading the default example:
parameters_file = os.path.join(
get_package_share_directory('joy_teleop'),
'config', 'joy_teleop_example.yaml'
)
I can see that, indeed, that yaml file doesn't have an offset field for walk.
Any particular reason for the AsyncServiceProxy to create ServiceProxy with the persistent parameter set to True by default ???
Setting this parameter to True is discouraged by the rospy doc. Moreover it seems to trigger some un-handled Interrupted system call.
My use-case is a simple start service mapped to a button. First button click goes fine, second click triggers the following crash:
On the service server side :
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 660, in handle
requests = transport.receive_once()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 750, in receive_once
raise TransportException("receive_once[%s]: unexpected error %s"%(self.name, str(e)))
TransportException: receive_once[/my_srv/start]: unexpected error [Errno 4] Interrupted system callOn the client side:
process[joy_teleop-1]: started with pid [945]
process[joystick-2]: started with pid [950]
Exception in thread Thread-61:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
return self.call(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 525, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for detailsWhen clicking a third time (and further), the error on the client side is then:
Exception in thread Thread-62:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
return self.call(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 512, in call
transport.send_message(request, self.seq)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 666, in send_message
self.write_data(self.write_buff.getvalue())
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 690, in write_data
raise TransportTerminated(str(errno)+msg)
TransportTerminated: 32Broken pipeQuickly browsing the web, the initial issue on the server side seems to be due to a known python 2.7 feature.
Finally, setting the default value of persistent to False, everything goes fine.
There is some interest in porting this packages to ROS 2, see this thread on Discours.
@bmagyar Could you please branch dashing-devel ??
On ROS2 foxy, joy_teleop fails to convert rclpy.Time to builtin_interfaces.msg.Time when setting the header stamp.
...
File "/opt/ros/foxy/lib/python3.8/site-packages/joy_teleop/joy_teleop.py", line 402, in joy_callback
command.run(self, msg)
File "/opt/ros/foxy/lib/python3.8/site-packages/joy_teleop/joy_teleop.py", line 235, in run
msg.header.stamp = node.get_clock().now()
File "/opt/ros/foxy/lib/python3.8/site-packages/std_msgs/msg/_header.py", line 131, in stamp
assert \
AssertionError: The 'stamp' field must be a sub message of type 'Time'
I notices that in joystick_drivers there is a Joy::Joy ROS2 component and I wonder if there is some interest/ongoing plans for a port of this repo to C++ for composability with the aforementioned joystick interface.
If no ongoing effort but there is interest, I can try to take some time, develop and contribute the port.
In your documentation to joy_teleop you say the node is looking for the teleop param in private space (~teleop).
But from tests and looking into your code you seem to look for teleop in relative space.
I think you can fix this by changing the doc on ros wiki or changing the code in /teleop_tools/joy_teleop/scripts/joy_teleop.py in line 40 from
teleop_cfg = rospy.get_param("teleop") to teleop_cfg = rospy.get_param("~teleop").
And in line 25 check for ~teleop instead of teleop.
When looking in private space for params, maybe it would be more convinient to drop the teleop param at all and look for the name of the node as param instead (with if not rospy.has_param(rospy.get_name()): and teleop_cfg=rospy.get_param(rospy.get_name())). The rest of the code could be unchanged i think. An example .yaml would look like this then:
move:
type: topic
message_type: geometry_msgs/Twist
topic_name: cmd_vel
axis_mappings:
-
axis: 1
target: linear.x
scale: 1.0
-
axis: 2
target: angular.z
scale: 1.0
...
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