Dji cap upgrades

.gitignore

@@ -5,3 +5,5 @@ __pycache__
 
 mpc_codegen
 c_generated_code
+
+COLCON_IGNORE

.gitmodules

@@ -52,7 +52,3 @@
 [submodule "utilities/serial_ping_pkg"]
 	path = utilities/serial_ping_pkg
 	url = https://github.com/NinjaTuna007/serial_ping_pkg.git
-[submodule "external_equipment/PlayStation-JoyInterface-ROS2"]
-	path = external_equipment/PlayStation-JoyInterface-ROS2
-	url = https://github.com/HarvestX/PlayStation-JoyInterface-ROS2
-	branch = humble

messages/dji_msgs/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.8)
+project(dji_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find necessary dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Generate drone-related message and service interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Topics.msg"         # Topics for the drone
+  "msg/Links.msg"          #links for drone        
+  DEPENDENCIES geometry_msgs sensor_msgs std_msgs
+)
+
+# Add build tests (if testing is enabled)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # Skipping linting for copyright and cpplint
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+

messages/dji_msgs/msg/Links.msg

@@ -0,0 +1,14 @@
+#
+# DJI Drone links and relevant frames
+# Most are published by the dji_captain node
+#
+
+string UTM = 'utm'
+string MAP = 'map'
+string ODOM = 'odom'
+string HOME_POINT = 'home_point'
+
+string BASE_LINK = 'base_link'
+string BASE_FLAT = 'base_flat_link'
+string BASE_ENU = 'base_ENU_link'
+

messages/dji_msgs/msg/Topics.msg

@@ -0,0 +1,9 @@
+# Used by the dji_captain, namespaced as needed.
+# Usually under /M350
+string MOVE_TO_SETPOINT_TOPIC = 'move_to_setpoint'
+string CONTROLLER_INPUT_TOPIC = 'joy'
+string CONTROLLER_VIBRATION_TOPIC = 'joy/set_feedback'
+string TTS_TOPIC = 'speak'
+
+
+

messages/dji_msgs/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>dji_msgs</name>
+  <version>0.1.0</version>
+  <description>The dji_msgs package</description>
+  <maintainer email="[email protected]">aryan</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <!-- Message gen depends -->
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

scripts/smarc_bringups/launch/speaking_joy.launch

@@ -0,0 +1,10 @@
+<launch>
+    <arg name="robot_name" default="M350"/>
+
+    <group>
+    <push-ros-namespace namespace="$(var robot_name)"/>
+            <node name="joy" pkg="joy" exec="game_controller_node" output="screen"/>
+            <node name="speaker" pkg="smarc_utilities" exec="simple_tts" output="screen"/>
+    </group>
+
+</launch>

scripts/smarc_bringups/scripts/dji_bringup.sh

@@ -49,7 +49,8 @@ if [ "$USE_SIM_TIME" = "False" ]; then
     tmux send-keys "ros2 topic echo /$ROBOT_NAME/captain_status std_msgs/msg/String --field data" C-m
 
     tmux select-pane -t $SESSION:0.3
-    tmux send-keys "cd ~ && ./record_bag_ex_camComp.sh" C-m
+    # tmux send-keys "cd ~ && ./record_bag_ex_camComp.sh" C-m
+    tmux send-keys "fast-discovery-server -i 0" C-m
 else
     tmux select-window -t $SESSION:0
     tmux send-keys "ros2 topic pub /$ROBOT_NAME/smarc/vehicle_health std_msgs/msg/Int8 \"data: 0\" -r 5" C-m