Add bypass option for joy

racecar_bringup/racecar_bringup/cmd_vel_arbitration.py

@@ -14,6 +14,11 @@ def __init__(self):
         self._delay_sec = (
             self.declare_parameter("delay_sec", 0.5).get_parameter_value().double_value
         )
+
+        self._bypass_joy = (
+            self.declare_parameter("bypass_joy", False).get_parameter_value().bool_value
+        )
+
         self._time_called = [self.get_clock().now() for _ in range(9)]
 
         self._cmd_vel_pub = self.create_publisher(Twist, "cmd_vel_output", 1)
@@ -50,7 +55,7 @@ def cmd_vel_callback(self, msg, priority: int):
                 pub = False
                 break
         if pub:
-            if self.__autopilot_active:
+            if self.__autopilot_active or self._bypass_joy:
                 self._cmd_vel_pub.publish(msg)
             elif priority == 0:
                 self._cmd_vel_pub.publish(msg)

racecar_gazebo/launch/simulation.launch.py

@@ -38,6 +38,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
         PythonLaunchDescriptionSource(
             [os.path.join(racecar_gazebo, "launch", "spawn_racecar.launch.py")]
         ),
+        launch_arguments={"use_joy": LaunchConfiguration('use_joy')}.items()
     )
 
     return (gazeboDefaultResourcePath, addRacecarGazeboResourcePath, gazebo, spawn_racecar)
@@ -51,4 +52,6 @@ def generate_launch_description():
         choices=["tunnel", "tunnel_genie", "circuit"],
     )
 
-    return LaunchDescription([world_arg, OpaqueFunction(function=launch_setup)])
+    return LaunchDescription([DeclareLaunchArgument('use_joy', default_value='True', description="launch joy related node"),
+                              world_arg, 
+                              OpaqueFunction(function=launch_setup)])

racecar_gazebo/launch/spawn_racecar.launch.py

@@ -4,19 +4,20 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, OpaqueFunction
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from xml.dom.minidom import Document
 
 
 def launch_setup(context, *args, **kwargs):
-    # Declare launch arguments
+    # Get launch arguments
     prefix = LaunchConfiguration('prefix').perform(context)
+    use_joy = LaunchConfiguration('use_joy').perform(context).lower() == "true"
 
     # Package Directories
     racecar_description = get_package_share_directory('racecar_description')
-    # racecar_gazebo = get_package_share_directory('racecar_gazebo')  # NOTE: Unused.
     racecar_navigation = get_package_share_directory('racecar_navigation')
 
     # Parse robot description from xacro
@@ -68,6 +69,7 @@ def launch_setup(context, *args, **kwargs):
     cmd_vel_arb = Node(
         package='racecar_bringup',
         executable='cmd_vel_arbitration',
+        parameters=[{'bypass_joy': not use_joy}],
         remappings=[(f'/{prefix}/cmd_vel_output', f'/{prefix}/cmd_vel')],
         namespace=prefix
     )
@@ -79,7 +81,8 @@ def launch_setup(context, *args, **kwargs):
         parameters=[{'deadzone': 0.2},
                     {'autorepeat_rate': 0.0},
                     {'coalesce_interval': 0.01}],
-        namespace=prefix
+        namespace=prefix,
+        condition=IfCondition(LaunchConfiguration('use_joy'))
     )
 
 
@@ -88,14 +91,11 @@ def launch_setup(context, *args, **kwargs):
             executable='slash_teleop',
             name='racecar_teleop',
             remappings=[(f'/{prefix}/ctl_ref', f'/{prefix}/cmd_vel_abtr_0')],
-            namespace=prefix   
+            namespace=prefix,
+            condition=IfCondition(LaunchConfiguration('use_joy'))
     )
 
 
-    # gaz_control = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource([os.path.join(racecar_gazebo, 'launch', 'gazebo_control.launch.py')]),
-    # )  # NOTE: Does nothing.
-
     kalmanFilter = IncludeLaunchDescription(
                         PythonLaunchDescriptionSource([os.path.join(racecar_navigation, 'launch', 'kalmanFilter.launch.py')]),
                         launch_arguments={"odom_topic":f'/{prefix}/odom/filtered',
@@ -110,14 +110,14 @@ def launch_setup(context, *args, **kwargs):
         cmd_vel_arb,
         joystick,
         teleop,
-        # gaz_control,
         kalmanFilter
     ]
 
 def generate_launch_description():
 
     return LaunchDescription([
         DeclareLaunchArgument('prefix', default_value='racecar'),
+        DeclareLaunchArgument('use_joy', default_value='True', description="launch joy related node"),
         OpaqueFunction(function=launch_setup)
     ])