update twist

.gitignore

@@ -2,3 +2,5 @@ install/
 log/
 build/
 .vscode/
+
+*__pycache__*

README.md

@@ -0,0 +1,5 @@
+# DCAITI_WS
+
+## Jetson IP Adresses
+Onboard switch: 192.168.1.253
+TIB switch: 192.168.13.142

src/dcaiti_control/description/real_robot_control.xacro

@@ -14,16 +14,16 @@
         <!-- Note everything below here is the same as the Gazebo one -->
         <joint name="left_wheel_joint">
             <command_interface name="velocity">
-                <param name="min">-0.5</param>
-                <param name="max">0.5</param>
+                <param name="min">-0.005</param>
+                <param name="max">0.005</param>
             </command_interface>
             <state_interface name="velocity"/>
             <state_interface name="position"/>
         </joint>
         <joint name="right_wheel_joint">
             <command_interface name="velocity">
-                <param name="min">-0.5</param>
-                <param name="max">0.5</param>
+                <param name="min">-0.005</param>
+                <param name="max">0.005</param>
             </command_interface>
             <state_interface name="velocity"/>
             <state_interface name="position"/>

src/dcaitirobot/dcaitirobot/twist.py

@@ -7,10 +7,14 @@ from sensor_msgs.msg import Joy
 
 import numpy as np
 
+SCALE_LINEAR_VELOCITY = 0.5
+SCALE_ANGULAR_VELOCITY = 0.4
+PUBLISH_FREQUENCY_HZ = 10
+
 
 def calc_speed_from_joy(x, y):    
-    linear = -y
-    angular = -x
+    linear = -y * SCALE_LINEAR_VELOCITY
+    angular = x * SCALE_ANGULAR_VELOCITY
 
     return linear, angular
 
@@ -18,19 +22,22 @@ class TwistPublisher(Node):
 
     def __init__(self):
         super().__init__('twist_publisher')
-        self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 1)
+        self.linear = 0.0
+        self.angular = 0.0
+        self.publisher_ = self.create_publisher(Twist, '/diff_cont/cmd_vel_unstamped', 1)
         self.create_subscription(Joy, "/joy", self.joy_callback, 1)
-
+        self.timer = self.create_timer(1/PUBLISH_FREQUENCY_HZ, self.timer_callback)
 
 
     def joy_callback(self, joy_message):
         x, y = joy_message.axes[:2]
 
-        linear, angular = calc_speed_from_joy(x,y)
+        self.linear, self.angular = calc_speed_from_joy(x,y)
 
+    def timer_callback(self):
         msg = Twist()
-        msg.linear.x = linear
-        msg.angular.z = angular
+        msg.linear.x = self.linear
+        msg.angular.z = self.angular
         self.publisher_.publish(msg)
         self.get_logger().info('Publishing: "%s"' % msg)
 

src/dcaitirobot/launch/remote_control_launch.py

@@ -12,10 +12,5 @@ def generate_launch_description():
             package='dcaitirobot',
             executable='twistcalc',
             name='twistcalc',
-        ),
-        Node(
-            package='dcaitirobot',
-            executable='serial_comms',
-            name='serial',
         )
     ])