Menu based teleop plugins

jsk_teleop_joy/launch/config/sample_joy_bounding_box_selector.rviz

@@ -0,0 +1,140 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /BoundingBoxArray1
+        - /BoundingBox1
+      Splitter Ratio: 0.544444
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: jsk_rviz_plugin/BoundingBoxArray
+      Enabled: true
+      Name: BoundingBoxArray
+      Topic: /bounding_box_array_publisher/output
+      Unreliable: false
+      Value: true
+      alpha: 0.8
+      color: 25; 255; 0
+      coloring: Auto
+      line width: 0.005
+      only edge: false
+      show coords: false
+    - Class: jsk_rviz_plugin/BoundingBox
+      Enabled: true
+      Name: BoundingBox
+      Topic: /selected_bbox
+      Unreliable: false
+      Value: true
+      alpha: 0.8
+      color: 255; 0; 0
+      coloring: Flat color
+      line width: 0.01
+      only edge: true
+      show coords: false
+    - Class: jsk_rviz_plugin/OverlayMenu
+      Enabled: true
+      Name: OverlayMenu
+      Topic: /overlay_menu
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.09505
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.436994
+        Y: 0.0773152
+        Z: 0.912857
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.325398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 6.19358
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 55
+  Y: 20

jsk_teleop_joy/launch/sample_joy_bounding_box_selector.launch

@@ -0,0 +1,72 @@
+<launch>
+  <arg name="CONTROLLER_TYPE" default="auto" />
+  <arg name="DEV" default="/dev/input/js0" />
+  <arg name="POSE_REMAP" default="joy_pose" />
+  <arg name="FRAME_ID" default="map" />
+
+  <arg name="gui" default="true" />
+
+  <node name="static_tf_publisher_map_to_shelf"
+        pkg="tf" type="static_transform_publisher"
+        args="0 0 1 0 0 0 map shelf_base 100">
+  </node>
+
+  <node name="bounding_box_array_publisher"
+        pkg="jsk_recognition_utils" type="bounding_box_array_publisher.py">
+    <rosparam>
+      frame_id: shelf_base
+      boxes:
+        - position: [-0.22, 0.280, 0.361]
+          dimension: [0.37, 0.248, 0.218]
+        - position: [-0.22, 0, 0.361]
+          dimension: [0.37, 0.306, 0.218]
+        - position: [-0.22, -0.280, 0.361]
+          dimension: [0.37, 0.248, 0.218]
+        - position: [-0.22, 0.280, 0.116]
+          dimension: [0.37, 0.248, 0.192]
+        - position: [-0.22, 0, 0.116]
+          dimension: [0.37, 0.306, 0.192]
+        - position: [-0.22, -0.280, 0.116]
+          dimension: [0.37, 0.248, 0.192]
+        - position: [-0.22, 0.280, -0.116]
+          dimension: [0.37, 0.248, 0.192]
+        - position: [-0.22, 0, -0.116]
+          dimension: [0.37, 0.306, 0.192]
+        - position: [-0.22, -0.280, -0.116]
+          dimension: [0.37, 0.248, 0.192]
+        - position: [-0.22, 0.280, -0.361]
+          dimension: [0.37, 0.248, 0.218]
+        - position: [-0.22, 0, -0.361]
+          dimension: [0.37, 0.306, 0.218]
+        - position: [-0.22, -0.280, -0.361]
+          dimension: [0.37, 0.248, 0.218]
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find jsk_teleop_joy)/launch/config/sample_joy_bounding_box_selector.rviz">
+    </node>
+  </group>
+
+  <node pkg="joy" type="joy_node" name="joy_driver" output="screen" >
+    <param name="dev" type="string" value="$(arg DEV)" />
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+  <node pkg="jsk_teleop_joy" type="joy.py" name="joy" output="screen"
+        clear_params="true">
+    <param name="controller_type" value="$(arg CONTROLLER_TYPE)" />
+    <rosparam subst_value="true">
+      plugins:
+        'BBoxSelect':
+           class: 'JoyBoundingBoxSelector'
+           args:
+             frame_id: $(arg FRAME_ID)
+             input_boxes: '/bounding_box_array_publisher/output'
+             output: '/selected_bbox'
+    </rosparam>
+  </node>
+</launch>

jsk_teleop_joy/launch/sample_joy_plugin.launch

@@ -0,0 +1,44 @@
+<launch>
+  <arg name="CONTROLLER_TYPE" default="auto" />
+  <arg name="DEV" default="/dev/input/js0" />
+  <arg name="POSE_REMAP" default="joy_pose" />
+  <arg name="FRAME_ID" default="base_footprint" />
+  <node pkg="joy" type="joy_node" name="joy_driver" output="screen" >
+    <param name="dev" type="string" value="$(arg DEV)" />
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+  <node pkg="jsk_teleop_joy" type="joy.py" name="joy" output="screen"
+        clear_params="true">
+    <param name="controller_type" value="$(arg CONTROLLER_TYPE)" />
+    <rosparam subst_value="true">
+      plugins:
+        'JoyTarget6D':
+           class: 'JoyTarget6D'
+           args:
+             publish_pose: True
+             pose: $(arg POSE_REMAP)
+             frame_id: $(arg FRAME_ID)
+             follow_view: true
+             triangle_cmd: "PREVIEW"
+             circle_cmd: "EXECUTE"
+             cross_cmd: "CANCEL"
+        'Verbose':
+           class: 'VerboseStatus'
+           args:
+             publish_pose: True
+             pose: $(arg POSE_REMAP)
+             frame_id: $(arg FRAME_ID)
+             follow_view: true
+        'BasePose':
+           class: 'BasePose'
+           args:
+             publish_pose: True
+             pose: 'base_goal'
+             frame_id: $(arg FRAME_ID)
+             follow_view: true
+             z: 1.0
+    </rosparam>
+  </node>
+</launch>

jsk_teleop_joy/plugin.xml

@@ -12,6 +12,10 @@
   </class>
   <class name="JoyPose6D" type="jsk_teleop_joy.plugin.joy_pose_6d.JoyPose6D">
   </class>
+  <class name="JoyTarget6D" type="jsk_teleop_joy.plugin.joy_target_6d.JoyTarget6D">
+  </class>
+  <class name="BasePose" type="jsk_teleop_joy.plugin.base_pose.BasePose">
+  </class>
   <class name="JoyFootstep" type="jsk_teleop_joy.plugin.joy_footstep.JoyFootstep">
   </class>
   <class name="JoyFootstepPlanner" type="jsk_teleop_joy.plugin.joy_footstep_planner.JoyFootstepPlanner">
@@ -30,4 +34,8 @@
   </class>
   <class name="JoyCmdVel" type="jsk_teleop_joy.plugin.joy_cmd_vel.JoyCmdVel">
   </class>
+  <class name="JoyReverseAxis" type="jsk_teleop_joy.plugin.joy_reverse_axis.JoyReverseAxis">
+  </class>
+  <class name="JoyBoundingBoxSelector" type="jsk_teleop_joy.plugin.joy_bounding_box_selector.JoyBoundingBoxSelector">
+  </class>
 </library>

jsk_teleop_joy/src/jsk_teleop_joy/joy.py

@@ -13,7 +13,6 @@
 except:
   import roslib; roslib.load_manifest('jsk_teleop_joy')
 
-
 from sensor_msgs.msg import Joy
 from diagnostic_msgs.msg import DiagnosticStatus, DiagnosticArray
 import tf.transformations
@@ -38,12 +37,12 @@ def autoJoyDetect(msg):
   elif len(msg.axes) == 20 and len(msg.buttons) == 17:
     rospy.loginfo("auto detected as ps3")
     AUTO_DETECTED_CLASS = PS3Status
-  elif len(msg.axes) == 8 and len(msg.buttons) == 19:
+  elif len(msg.axes) == 8 and (len(msg.buttons) == 16 or len(msg.buttons) == 19):
     rospy.loginfo("auto detected as ipega")
     AUTO_DETECTED_CLASS = IpegaStatus
   else:
     AUTO_DETECTED_CLASS = "UNKNOWN"
-    
+
 class JoyManager():
   STATE_INITIALIZATION = 1
   STATE_RUNNING = 2
@@ -52,7 +51,7 @@ class JoyManager():
   MODE_PLUGIN = 0
   MODE_MENU = 1
   mode = 0
-  
+
   plugin_instances = []
   def stateDiagnostic(self, stat):
     if self.state == self.STATE_INITIALIZATION:
@@ -99,7 +98,7 @@ def __init__(self, plugin_package="jsk_teleop_joy"):
     elif self.controller_type == 'ipega':
       self.JoyStatus = IpegaStatus
     elif self.controller_type == 'auto':
-      s = rospy.Subscriber('/joy', Joy, autoJoyDetect)
+      s = rospy.Subscriber('/joy', Joy, autoJoyDetect, queue_size=1)
       self.state = self.STATE_WAIT_FOR_JOY
       error_message_published = False
       r = rospy.Rate(1)
@@ -190,7 +189,7 @@ def joyCB(self, msg):
     self.pre_status = status
     self.history.add(status)
     self.diagnostic_updater.update()
-    
+
 def main():
   global g_manager
   rospy.sleep(1)
@@ -202,7 +201,6 @@ def main():
     return False
   else:
     rospy.spin()
-  
+
 if __name__ == '__main__':
   main()
-

jsk_teleop_joy/src/jsk_teleop_joy/joy_status.py

@@ -117,14 +117,13 @@ class IpegaStatus(JoyStatus):
     def __init__(self, msg):
         '''
         ipaga game pad
-        No home button
         Y button => triangle
         X button => square
         B button => circle
         A button => cross
+        START + SELECT => HOME(center)
         '''
         JoyStatus.__init__(self)
-        self.center = False
         if msg.buttons[10] == 1:
             self.select = True
         else:
@@ -189,6 +188,12 @@ def __init__(self, msg):
             self.R2 = True
         else:
             self.R2 = False
+        if self.start and self.select:
+            self.start = False
+            self.select = False
+            self.center = True
+        else:
+            self.center = False 
         self.left_analog_x = msg.axes[0]
         self.left_analog_y = msg.axes[1]
         self.right_analog_x = msg.axes[2]