Succesfull walking in talos, added talos teleop

talos_bringup/config/joy_teleop.yaml

+teleop:
+  walk:
+    type: topic
+    message_type: geometry_msgs/Twist
+    topic_name: cmd_vel
+    deadman_buttons: [4]
+    axis_mappings:
+      -
+        axis: 1
+        target: linear.x
+        scale: 0.25
+      -
+        axis: 0
+        target: angular.z
+        scale: 0.25
+      -
+        axis: 2
+        target: linear.y
+        scale: 0.15
+
+  joy_priority:
+    type: action
+    action_name: joy_priority_action
+    buttons: [0]
+
+  # undocumented poses, with 'back' button
+  home:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: home
+    buttons: [8, 1]
+
+  hands_walk:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: hands_walk
+    buttons: [8, 2]
+
+  # documented motions, with right upper button and right trigger
+  # see SDE4 documentation
+  wave:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: wave
+    buttons: [5, 1]
+
+  bow:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: bow
+    buttons: [5, 0]
+
+  open_arms:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: open_arms
+    buttons: [5, 3]
+
+  shake_hand:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: shake_right
+    buttons: [5, 2]
+
+  point_front_left:
+    type: action
+    action_name: play_motion
+    action_goal:
+      motion_name: point_front_left
+    buttons: [7, 0]

talos_bringup/config/twist_mux/joystick.yaml

+turbo:
+  linear_forward_min  : 1.0
+  linear_forward_max  : 1.0
+  linear_backward_min : 1.0
+  linear_backward_max : 1.0
+  linear_lateral_min  : 1.0
+  linear_lateral_max  : 1.0
+  angular_min : 1.0
+  angular_max : 1.0
+  steps       : 1

talos_bringup/config/twist_mux/twist_mux_locks.yaml

+# Locks to stop the twist mux.
+# For each lock:
+# - topic   : input topic that provides the lock; it must be of type std_msgs::Bool?!!! 
+# - timeout : == 0.0 -> not used
+#              > 0.0 -> the lock is supposed to published at a certain frequency in order
+#                       to detect that the publisher is alive; the timeout in seconds allows
+#                       to detect that, and if the publisher dies we will enable the lock
+# - priority: priority in the range [0, 255], so all the topics with priority lower than it
+#             will be stopped/disabled
+
+locks:
+-
+  name    : pause
+  topic   : pause_navigation
+  timeout : 0.0
+  # Same priority as joystick control, so it'll not block it.
+  priority: 100
+-
+  name    : loop_closure
+  topic   : stop_closing_loop
+  timeout : 0.0
+  priority: 200
+-
+  name    : joystick 
+  topic   : joy_priority
+  timeout : 0.0
+  priority: 100
+

talos_bringup/config/twist_mux/twist_mux_topics.yaml

+# Input topics handled/muxed by the twist mux.
+# For each topic:
+# - name    : name identifier to select the topic
+# - topic   : input topic of geometry_msgs::Twist type
+# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead
+# - priority: priority in the range [0, 255]; the higher the more priority over other topics
+
+topics:
+-
+  name    : navigation
+  topic   : nav_vel
+  timeout : 0.5
+  priority: 10
+-
+  name    : joystick
+  topic   : joy_vel
+  timeout : 0.5
+  priority: 100
+-
+  name    : keyboard
+  topic   : key_vel
+  timeout : 0.5
+  priority: 90
+-
+  name    : tablet
+  topic   : tab_vel
+  timeout : 0.5
+  priority: 100

talos_bringup/launch/joystick_teleop.launch

+<launch>
+
+  <arg name="cmd_vel" default="input_joy/cmd_vel" />
+  <arg name="teleop_config" default="$(find talos_bringup)/config/joy_teleop.yaml" />
+
+  <rosparam file="$(arg teleop_config)" command="load" />
+  <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
+    <remap from="cmd_vel" to="$(arg cmd_vel)" />
+  </node>
+
+  <node pkg="joy" type="joy_node" name="joystick">
+    <param name="autorepeat_rate" value="10" />
+  </node>
+
+</launch>

talos_bringup/launch/talos_bringup.launch

@@ -18,4 +18,10 @@
      <arg name="robot" value="$(arg robot)"/>
   </include>
 
+  <!-- Twist mux -->
+  <include file="$(find talos_bringup)/launch/twist_mux.launch" />
+
+  <!-- Joystick controller -->
+  <include file="$(find talos_bringup)/launch/joystick_teleop.launch" />
+
 </launch>

talos_bringup/launch/twist_mux.launch

+<launch>
+
+  <include file="$(find twist_mux)/launch/twist_mux.launch">
+    <arg name="cmd_vel_out" value="walking_controller/cmd_vel"/>
+
+    <arg name="config_locks"  value="$(find reemc_bringup)/config/twist_mux/twist_mux_locks.yaml"/>
+    <arg name="config_topics" value="$(find reemc_bringup)/config/twist_mux/twist_mux_topics.yaml"/>
+
+    <arg name="config_joy" value="$(find talos_bringup)/config/twist_mux/joystick.yaml"/>
+  </include>
+
+</launch>

talos_bringup/package.xml

@@ -4,9 +4,9 @@
   <version>0.0.2</version>
   <description>The talos_bringup package</description>
 
-  <maintainer email="hilario@todo.todo">hilario</maintainer>
+  <maintainer email="hilario.tome@pal-robotics.com">Hilario Tome</maintainer>
 
-  <license>TODO</license>
+  <license>Proprietary</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 

talos_controller_configuration/package.xml

@@ -4,9 +4,9 @@
   <version>0.0.2</version>
   <description>The talos_controller_configuration package</description>
 
-  <maintainer email="hilario@todo.todo">hilario</maintainer>
+  <maintainer email="hilario.tome@pal-robotics.com">Hilario Tome</maintainer>
 
-  <license>TODO</license>
+  <license>Proprietary</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 

talos_description/package.xml

@@ -6,7 +6,7 @@
 
   <maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
 
-  <license>TODO</license>
+  <license>Proprietary</license>
 
   <buildtool_depend>catkin</buildtool_depend>