Updated auv_setup to ros2

auv_setup/CMakeLists.txt

@@ -1,2 +1,24 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(auv_setup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install launch files.
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

auv_setup/launch/pc.launch.py

@@ -0,0 +1,42 @@
+import os
+from launch import LaunchDescription
+from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    # Set environment variable
+    set_env_var = SetEnvironmentVariable(
+        name='ROSCONSOLE_FORMAT',
+        value='[${severity}] [${time}] [${node}]: ${message}'
+    )
+
+    # Joystick node
+    joy_node = Node(
+        package='joy',
+        executable='joy_node',
+        name='joystick_driver',
+        output='screen',
+        parameters=[
+            {'deadzone': 0.15},
+            {'autorepeat_rate': 100.0},
+        ],
+        remappings=[
+            ('/joy', '/joystick/joy'),
+        ],
+    )
+
+    # Joystick interface launch
+    joystick_interface_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('joystick_interface_auv'), 'launch/joystick_interface_auv.launch.py')
+        )
+    )
+
+    # Return launch description
+    return LaunchDescription([
+        set_env_var,
+        joy_node,
+        joystick_interface_launch
+    ])

auv_setup/package.xml

@@ -1,11 +1,18 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>auv_setup</name>
   <version>0.0.0</version>
   <description>The auv_setup package</description>
-  <maintainer email="[email protected]">christopher</maintainer>
+  <maintainer email="[email protected]">alekskl01</maintainer>
   <license>MIT</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
- </package>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mission/joystick_interface_auv/scripts/joystick_interface_auv.py

@@ -170,20 +170,12 @@ def joystick_cb(self, msg: Joy):
         left_shoulder = buttons["LB"]
         right_shoulder = buttons["RB"]
 
-<<<<<<< HEAD
         surge = axes[
             "vertical_axis_left_stick"] * self.joystick_surge_scaling_
         sway = axes[
             "horizontal_axis_left_stick"] * self.joystick_sway_scaling_
         heave = -(left_trigger - right_trigger)/2 * self.joystick_heave_scaling_
         roll = (right_shoulder - left_shoulder) * self.joystick_roll_scaling_
-=======
-        surge = axes["vertical_axis_left_stick"] * self.joystick_surge_scaling_
-        sway = axes["horizontal_axis_left_stick"] * self.joystick_sway_scaling_
-        heave = -(axes[["RT"] - axes["LT"]]) / 2 * self.joystick_heave_scaling_
-        roll = axes[self.buttons["RB"] -
-                    self.buttons["LB"]] * self.joystick_roll_scaling_
->>>>>>> refs/remotes/origin/feature/joystick_interface_in_ros2
         pitch = -axes[
             "vertical_axis_right_stick"] * self.joystick_pitch_scaling_
         yaw = axes["horizontal_axis_right_stick"] * self.joystick_yaw_scaling_