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Enable simultaneous multiple joysticks across multiple guis and swarmies #9

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Enable simultaneous multiple joysticks across multiple guis and swarmies #9

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46d785d
launch/rover_gui.launch: add joy to ignored topics to stop gui crosstalk
Carter90 Apr 26, 2022
1259b6b
src/swarmie/launch/swarmie.xml: +joy to ignored topics to stop crosstalk
Carter90 Apr 26, 2022
102f5ae
src/rqt_rover_gui/launch/rover_gui.launch:+anonymous to node name
Carter90 Apr 26, 2022
291ac58
src/rqt_rover_gui/src/rover_gui_plugin.cpp: added uniq name for joy_node
Carter90 Apr 26, 2022
6df4257
src/rqt_rover_gui/src/rover_gui_plugin.cpp: remove joy_node rosrun call
Carter90 Apr 26, 2022
1c0c295
launch/rover_gui.launch: start joy_node
Carter90 Apr 26, 2022
2358cce
Delete CNN_9010_wAug_160.h5
Carter90 May 9, 2022
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3 changes: 0 additions & 3 deletions classifiers/CNN_9010_wAug_160.h5
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This file was deleted.

5 changes: 4 additions & 1 deletion launch/rover_gui.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,9 @@
<param name="startsim" value="$(arg startsim)"/>
<param name="gazebo" value="$(arg gazebo)"/>
</group>


<node name="$(anon joy_node)" pkg="joy" type="joy_node" />

<node name="$(anon rqt_rover_gui)" pkg="rqt_gui" type="rqt_gui" args="-s rqt_rover_gui" required="True" output="screen">
<env name="SWARMATHON_APP_ROOT" value="$(env PWD)" />
<env name="GAZEBO_MODEL_PATH" value="$(env PWD)/simulation/models" />
Expand All @@ -31,6 +33,7 @@
- /rosout_agg
- /tf
- /tf_static
- /joy
</rosparam>
</node>
</group >
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2 changes: 1 addition & 1 deletion src/rqt_rover_gui/launch/rover_gui.launch
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<launch>
<node name="joy_node" pkg="joy" type="joy_node" />
<node name="$(anon joy_node)" pkg="joy" type="joy_node" />

</launch>
53 changes: 0 additions & 53 deletions src/rqt_rover_gui/src/rover_gui_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,6 @@ namespace rqt_rover_gui
max_info_log_length = 10000;
max_diag_log_length = 10000;

joy_process = NULL;
joystickGripperInterface = NULL;

obstacle_call_count = 0;
Expand Down Expand Up @@ -263,9 +262,6 @@ namespace rqt_rover_gui
ui.all_autonomous_button->setStyleSheet("color: grey; border:2px solid grey; border-radius:12px; padding: 5px;");
ui.all_stop_button->setStyleSheet("color: grey; border:2px solid grey; border-radius:12px; padding: 5px;");

//QString return_msg = startROSJoyNode();
//displayLogMessage(return_msg);

info_log_subscriber = nh.subscribe("/infoLog", 10, &RoverGUIPlugin::infoLogMessageEventHandler, this);
diag_log_subscriber = nh.subscribe("/diagsLog", 10, &RoverGUIPlugin::diagLogMessageEventHandler, this);

Expand All @@ -279,7 +275,6 @@ namespace rqt_rover_gui
ui.map_frame->clear();
clearSimulationButtonEventHandler();
rover_poll_timer->stop();
stopROSJoyNode();
ros::shutdown();
}

Expand Down Expand Up @@ -1452,9 +1447,6 @@ void RoverGUIPlugin::autonomousRadioButtonEventHandler(bool marked)
control_mode_publishers[selected_rover_name].publish(control_mode_msg);
emit sendInfoLogMessage(QString::fromStdString(selected_rover_name)+" changed to autonomous control");

QString return_msg = stopROSJoyNode();
emit sendInfoLogMessage(return_msg);

//Enable all stop button
ui.all_stop_button->setEnabled(true);
ui.all_stop_button->setStyleSheet("color: white; border:2px solid white; border-radius:12px; padding: 5px;");
Expand Down Expand Up @@ -1498,9 +1490,6 @@ void RoverGUIPlugin::joystickRadioButtonEventHandler(bool marked)
control_mode_publishers[selected_rover_name].publish(control_mode_msg);
emit sendInfoLogMessage(QString::fromStdString(selected_rover_name)+" changed to joystick control");\

QString return_msg = startROSJoyNode();
emit sendInfoLogMessage(return_msg);

//Enable all autonomous button
ui.all_autonomous_button->setEnabled(true);
ui.all_autonomous_button->setStyleSheet("color: white; border:2px solid white; border-radius:12px; padding: 5px;");
Expand Down Expand Up @@ -2327,48 +2316,6 @@ void RoverGUIPlugin::visualizeSimulationButtonEventHandler()

}

QString RoverGUIPlugin::startROSJoyNode()
{
if (!joy_process)
{

QString argument = "rosrun joy joy_node";

joy_process = new QProcess();

joy_process->start("sh", QStringList() << "-c" << argument);

// joy_process->waitForStarted();

return "Started the joystick node.";

}
else
{
return "The joystick node is already running.";
}
}

QString RoverGUIPlugin::stopROSJoyNode()
{
//return "Do nothing for debug";

if (joy_process)
{
joy_process->terminate();
joy_process->waitForFinished();
delete joy_process;
joy_process = NULL;

return "Stopped the running joystick node.";

}
else
{
return "Tried to stop the joystick node but it isn't running.";
}
}

QString RoverGUIPlugin::addUniformTargets()
{
QString number_of_tags = ui.number_of_tags_combobox->currentText();
Expand Down
2 changes: 2 additions & 0 deletions src/swarmie/launch/swarmie.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,8 @@
<rosparam param="ignore_topics">
- /tf
- /tf_static
- /joy
- /joy/set_feedback
</rosparam>
</node>

Expand Down