Merge pull request #9 from UofA-SPEAR/ayden/feature/hardware_arm

Ayden/feature/hardware arm

documentation/Arm_Teleop.md

@@ -1,27 +1,54 @@
 # Guide to Moveit for Teleoperation
 
 ## Install Moveit
-```sudo apt install ros-humble-moveit```
+```
+sudo apt install ros-humble-moveit
+```
 
-```sudo apt install ros-humble-moveit-servo```
+```
+sudo apt install ros-humble-moveit-servo
+```
 
 ## Build and Source
-```colcon build```
+```
+colcon build
+```
 
-```source install/setup.bash```
+```
+source install/setup.bash
+```
 
 ## Run the code
 
-```ros2 launch teleop teleop.launch.py```
+### Short Way
 
-```ros2 launch moveit_spear servo.launch.py```
+```
+ros2 launch teleop arm.teleop.py
+```
 
-```ros2 launch moveit_spear demo.launch.py```
 
-```ros2 service call /arm_servo/start_servo std_srvs/srv/Trigger {}```
 
 
 
-Refer to this for control mapping: https://drive.google.com/file/d/1n3aWn4sJ1-WZIfTOjwfjbIYzQQzIuocr/view?usp=drive_link
+### Long Way
+
+```
+ros2 launch teleop teleop.launch.py
+```
+
+```
+ros2 launch moveit_spear servo.launch.py
+```
+
+```
+ros2 launch moveit_spear demo.launch.py
+```
 
+```
+ros2 service call /arm_servo/start_servo std_srvs/srv/Trigger {}
+```
+
+
+
+Refer to this for control mapping: https://drive.google.com/file/d/1n3aWn4sJ1-WZIfTOjwfjbIYzQQzIuocr/view?usp=drive_link
 

kipp_arm/src/teleop/launch/arm.launch.py

@@ -3,22 +3,21 @@
 from launch.substitutions import LaunchConfiguration
 import os
 from ament_index_python.packages import get_package_share_directory
-from launch.actions import TimerAction, DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler
+from launch.event_handlers import OnProcessStart
 from moveit_configs_utils import MoveItConfigsBuilder
 from moveit_configs_utils.launches import generate_demo_launch
-import subprocess
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
 
 
 def generate_launch_description():
 
     param_file = os.path.join(get_package_share_directory("moveit_spear"), "config", "moveit_servo_config.yaml")
 
-    joystick_conv = TimerAction(
-        period=3.0,
-        actions=[Node(
-            package='teleop',
-            executable='SPEAR_Arm_Node',
-        )]
+    joystick_conv = Node(
+        package='teleop',
+        executable='SPEAR_Arm_Node',
     )
 
     joy_input = Node(
@@ -44,17 +43,19 @@ def generate_launch_description():
         output='screen',
     )
 
+
+    # Modified ExecuteProcess part
+    execute_process = ExecuteProcess(
+        cmd=['kipp_arm/src/teleop/launch/service.sh'],
+        output='screen'
+    )
+
     # Initialize the LaunchDescription object
     ld = LaunchDescription()
     ld.add_action(joy_input)
     ld.add_action(joystick_conv)
     ld.add_action(demo_launch)  # Adding the demo launch, which sets up RViz
     ld.add_action(servo_node)
-
-    # Call the ROS2 service to start the servo
-    try:
-        subprocess.run(['ros2', 'service', 'call', '/arm_servo/start_servo', 'std_srvs/srv/Trigger', '{}'], check=True)
-    except subprocess.CalledProcessError as e:
-        print(f"Service call failed: {e}")
+    ld.add_action(execute_process)  # Adding the execute process action
 
     return ld

kipp_arm/src/teleop/launch/service.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# Call the ROS2 service
+ros2 service call /arm_servo/start_servo std_srvs/srv/Trigger {}