guppy_teleop

Input service for translating multi-device input to Twist and widget-based GUI for monitoring and controlling guppy.

Input

Start input individually with ros2 run guppy_teleop .... The entry-points for individual input are input/keyboard/controller. The ChangeState service must be up in order to send state changes.

If an input device is being initialized that you don't want to be used, you can blacklist devices by adding them to the respective lists in the respective classes from guppy_teleop.input.controller and guppy_teleop.input.keyboard. There are additional options like DEADZONE, LINEAR_MULTIPLIER, and ANGULAR_MULTIPLIER for devices as well.

Adding New Input Devices

Input devices are made to be easily extensible by just inheriting either the InputDevice class from guppy_teleop.input.input_device or the nearest subclass of InputDevice like the Controller class from guppy_teleop.input.controller. After creating a new class, write a discovery function (refer to the find_controllers() function from guppy_teleop.input.controller) and add it to the parent classes discovery function or tie it into the discovery process when defining the InputHandler (refer to the main() function of guppy_teleop.input_handler or the InputWidget.__init__() method from guppy_teleop.frontend.widgets.input_widget)

Adding New Commands

The implementations of the Controller and Keyboard classes both allow you to define commands. To do so, ensure the "command key" (the key(s) that designate an input as a command, ie. KEY_LEFTCTRL) you use is added to the COMMAND_KEYS list. Then, add a new entry in the COMMAND_MAP dict in the form; dict[Callable, list[int]]. ie.

self.COMMAND_MAP: dict[Callable, list[int]] = {
    ...
    lambda: self.handler.push_state("FAULT"): [ecodes.BTN_SELECT, ecodes.BTN_B]
    ...
}

Terminal GUI

Start the GUI Terminal using ros2 run guppy_teleop terminal, this will also start the input service. A panel on the left allows you to switch workspaces, all of which are defined in the guppy_teleop/frontend/workspaces. Widgets can be dragged, scaled, and removed. In the bottom right, there are buttons that toggle snapping to the grid, moving to the origin, and saving/loading workspaces.

Adding New Widgets or Services

TODO

_{Toasts from QtToastify (Toastify.qml, ToastifyDelegate.qml)}