Changed button from press to switch

README.md

@@ -84,10 +84,9 @@ And add the previous line to the end of your file. Same procedure if you use zsh
 To Save press Cntrl+O , Enter . Cntrl+X to exit
 
 # Ackerman dependencies
-    sudo apt install ros-noetic-ros-controllers
-    sudo apt-get install ros-noetic-ackermann-msgs
+    sudo apt-get install ros-noetic-ros-controllers ros-noetic-ackermann-msgs
 
-# Launch woth ackerman
+# Launch with ackerman
     roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion.launch
 
 # Running the simulation enviroment

cnn/launch/write.launch

@@ -2,7 +2,7 @@
 
   <arg name="image_raw_topic" default="/ackermann_vehicle/camera/rgb/image_raw"/>
   <arg name="twist_cmd_topic" default="/cmd_vel"/>
-  <arg name="bool_cmd_topic" default=""/>
+  <arg name="vel_cmd_topic" default=""/>
   <arg name="folder" default="set1"/>
   <arg name="rate" default="30"/>
   <arg name="width" default="320"/>
@@ -11,7 +11,7 @@
     <node name="cnn_write" pkg="cnn" type="write.py" output="screen" required="true">
       <param name="image_raw_topic" value="$(arg image_raw_topic)"/>
       <param name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
-      <param name="bool_cmd_topic" value="$(arg bool_cmd_topic)"/>
+      <param name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
       <param name="folder" value="$(arg folder)"/>
       <param name="rate" value="$(arg rate)"/>
       <param name="width" value="$(arg width)"/>

cnn/scripts/write.py

@@ -105,7 +105,7 @@ def main():
 
     image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera/rgb/image_raw')
     twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '/cmd_vel')
-    bool_cmd_topic = rospy.get_param('~bool_cmd_topic', '')
+    vel_cmd_topic = rospy.get_param('~vel_cmd_topic', '')
     base_folder = rospy.get_param('~folder', 'set1')
     rate_hz = rospy.get_param('~rate', 30)
     image_width = rospy.get_param('~width', 320)
@@ -128,11 +128,11 @@ def main():
     # Subscribe topics
     # If we have a bool topic, we are recording the linear variable as the boolean.
     # If not, we are recording the linear velocity from the twist
-    if bool_cmd_topic != "":
+    if vel_cmd_topic != "":
         # Define angular as 0 to prevent errors when we give velocity first instead of angle
         angular = 0
         rospy.Subscriber(twist_cmd_topic, Twist, messageRealReceivedCallback)
-        rospy.Subscriber(bool_cmd_topic, Bool, boolReceivedCallback)
+        rospy.Subscriber(vel_cmd_topic, Bool, boolReceivedCallback)
     else:
         rospy.Subscriber(twist_cmd_topic, Twist, messageReceivedCallback)
 

physical_bringup/launch/modules/android_conversor.launch

@@ -4,6 +4,7 @@
   <arg name="int_vel_topic" default="/pub_vel"/>
   <arg name="int_vel_max" default="108"/>
   <arg name="vel_cmd_topic" default="/android_input_vel"/>
+  <arg name="bool_btn_topic" default="/android_input_velin"/>
 
   <include file="$(find robot_driving)/launch/physical_robot_control.launch">
     <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>

physical_bringup/launch/modules/write_cnn.launch

@@ -2,7 +2,7 @@
 
   <arg name="image_raw_topic" default="/real_camera"/>
   <arg name="twist_cmd_topic" default="/android_input_dir"/>
-  <arg name="bool_cmd_topic" default="/android_input_vel"/>
+  <arg name="vel_cmd_topic" default="/android_input_vel"/>
   <arg name="folder" default="set1"/>
   <arg name="rate" default="30"/>
   <arg name="width" default="320"/>
@@ -11,7 +11,7 @@
   <include file="$(find cnn)/launch/write.launch">
     <arg name="image_raw_topic" value="$(arg image_raw_topic)"/>
     <arg name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
-    <arg name="bool_cmd_topic" value="$(arg bool_cmd_topic)"/>
+    <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
     <arg name="folder" value="$(arg folder)"/>
     <arg name="rate" value="$(arg rate)"/>
     <arg name="width" value="$(arg width)"/>

physical_bringup/launch/traxxas_drive_signal1.launch

@@ -8,7 +8,7 @@
     <arg name="int_dir_topic" default="/pub_dir"/>
     <arg name="int_vel_topic" default="/pub_vel"/>
     <arg name="int_vel_max" default="125"/>
-    <arg name="bool_vel_topic" default="/android_input_vel"/>
+    <arg name="vel_cmd_topic" default="/android_input_vel"/>
 
     <arg name="camera_topic" default="/real_camera"/>
     <arg name="int_camera_id" default="2"/>   
@@ -23,12 +23,12 @@
             <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
         </include>
 
-        <include file="$(find physical_bringup)/launch/android_conversor.launch">
+        <include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
             <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
             <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
             <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
             <arg name="int_vel_max" value="$(arg int_vel_max)"/>
-            <arg name="bool_vel_topic" value="$(arg bool_vel_topic)"/>
+            <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
         </include>
 
         <include file="$(find physical_bringup)/launch/modules/lane_camera.launch">

physical_bringup/launch/traxxas_drive_write.launch

@@ -1,25 +1,25 @@
 <launch>
-
     <arg name="folder" default="set1"/>
     <arg name="twist_cmd_topic" default="/android_input_dir"/>
     <arg name="twist_dir_topic" default="/android_input_dir"/>
-    <arg name="bool_cmd_topic" default="/android_input_vel"/>
+    <arg name="vel_cmd_topic" default="/android_input_vel"/>
     <arg name="int_dir_topic" default="/pub_dir"/>
     <arg name="int_vel_topic" default="/pub_vel"/>
     <arg name="int_vel_max" default="102"/>
-    <arg name="vel_cmd_topic" default="/android_input_vel"/>
+    <arg name="bool_btn_topic" default="/android_input_velin"/>
 
     <arg name="camera_topic" default="/real_camera"/>
     <arg name="int_camera_id" default="2"/> 
 
-    <include file="$(find physical_bringup)/launch/modules/rosserial.launch" /> 
+    <include file="$(find physical_bringup)/launch/modules/rosserial.launch" />
 
     <include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
         <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
         <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
         <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
         <arg name="int_vel_max" value="$(arg int_vel_max)"/>
         <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+        <arg name="bool_btn_topic" value="$(arg bool_btn_topic)"/>
     </include>
 
     <!--<include file="$(find physical_bringup)/launch/modules/usb_cam.launch" />-->
@@ -31,7 +31,7 @@
 
     <include file="$(find simulation_bringup)/launch/modules/write_cnn.launch" >
         <arg name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
-        <arg name="bool_cmd_topic" value="$(arg bool_cmd_topic)"/>
+        <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
         <arg name="image_raw_topic" value="$(arg camera_topic)"/>
         <arg name="folder" value="$(arg folder)"/>
     </include>

physical_bringup/launch/traxxas_free_drive.launch

@@ -1,26 +1,28 @@
 <launch>
-<arg name="twist_dir_topic" default="/android_input_dir"/>
-<arg name="int_dir_topic" default="/pub_dir"/>
-<arg name="int_vel_topic" default="/pub_vel"/>
-<arg name="int_vel_max" default="108"/>
-<arg name="vel_cmd_topic" default="/android_input_vel"/>
+    <arg name="twist_dir_topic" default="/android_input_dir"/>
+    <arg name="int_dir_topic" default="/pub_dir"/>
+    <arg name="int_vel_topic" default="/pub_vel"/>
+    <arg name="int_vel_max" default="108"/>
+    <arg name="vel_cmd_topic" default="/android_input_vel"/>
+    <arg name="bool_btn_topic" default="/android_input_velin"/>
 
-<arg name="camera_topic" default="/real_camera"/>
-<arg name="int_camera_id" default="2"/>
+    <arg name="camera_topic" default="/real_camera"/>
+    <arg name="int_camera_id" default="2"/>
 
-<include file="$(find physical_bringup)/launch/modules/rosserial.launch" />
+    <include file="$(find physical_bringup)/launch/modules/rosserial.launch" />
 
-<include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
-    <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
-    <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
-    <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
-    <arg name="int_vel_max" value="$(arg int_vel_max)"/>
-    <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
-</include>
+    <include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
+        <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
+        <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
+        <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
+        <arg name="int_vel_max" value="$(arg int_vel_max)"/>
+        <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+        <arg name="bool_btn_topic" value="$(arg bool_btn_topic)"/>
+    </include>
 
-<include file="$(find physical_bringup)/launch/modules/lane_camera.launch">
-    <arg name="camera_topic" value="$(arg camera_topic)"/>
-    <arg name="int_camera_id" value="$(arg int_camera_id)"/>
-</include>
+    <include file="$(find physical_bringup)/launch/modules/lane_camera.launch">
+        <arg name="camera_topic" value="$(arg camera_topic)"/>
+        <arg name="int_camera_id" value="$(arg int_camera_id)"/>
+    </include>
 
 </launch>

robot_driving/launch/physical_robot_control.launch

@@ -4,6 +4,8 @@
   <arg name="int_vel_topic" default="/pub_vel"/>
   <arg name="int_vel_max" default="108"/>
   <arg name="vel_cmd_topic" default="/android_input_vel"/>
+  <arg name="bool_btn_topic" default="/android_input_velin"/>
+
 
 
     <node name="robot_driving" pkg="robot_driving" type="AndroidConversor.py" output="screen">

robot_driving/scripts/AndroidConversor.py

@@ -8,7 +8,10 @@
 # Global Variables
 global PubDir
 global PubVel
+global PubBool
 global ma1, ma2, ba1, ba2
+global bool_vel
+
 
 
 # Direction Callback Function
@@ -28,14 +31,31 @@ def messageReceivedCallbackDir(message):
     #Publicar mensagens
     PubDir.publish(int(AngleOut))
 
-
+# Velocity Callback Function
+def messageReceivedCallbackBtn(message):
+
+    global bool_vel
+
+    bool_button = message.data
+
+    # If the button is pressed, bool_vel switches from True to False and viceversa
+    if bool_button:
+        bool_vel = not bool_vel
+
+    PubBool.publish(bool_vel)
+
+
 # Velocity Callback Function
 def messageReceivedCallbackVel(message):
 
-    bool = message.data
+    global vel_max
+    global vel_center
+
+    bool_cmd = message.data
 
-    # If the button is pressed, the velocity is max, if it's not, it's null
-    if bool:
+    #If android_input_vel is true, velocity is max. If not, velocity is zero
+
+    if bool_cmd:
         vel = vel_max
     else:
         vel = vel_center
@@ -52,15 +72,22 @@ def main():
 
     global PubDir
     global PubVel
+    global PubBool
     global ma1, ma2, ba1, ba2
     global vel_max, vel_center
+    global bool_vel
+
+    #Define initial variable
+    bool_vel = False
+
 
     # Initiates the node
     rospy.init_node('AndroidConversor', anonymous=False)
 
     # Get parameters
     twist_dir_topic = rospy.get_param('~twist_dir_topic', '/android_input_dir') 
-    bool_vel_topic = rospy.get_param('~bool_vel_topic', '/android_input_vel') 
+    vel_cmd_topic = rospy.get_param('~vel_cmd_topic', '/android_input_vel')
+    bool_btn_topic = rospy.get_param('~bool_btn_topic', '/android_input_velin')
     int_dir_topic = rospy.get_param('~int_dir_topic', '/pub_dir') 
     int_vel_topic = rospy.get_param('~int_vel_topic', '/pub_vel')
     int_vel_max = rospy.get_param('~int_vel_max', 108)
@@ -71,8 +98,10 @@ def main():
 
     PubDir = rospy.Publisher(int_dir_topic, Int16, queue_size=10)
     PubVel = rospy.Publisher(int_vel_topic, Int16, queue_size=10)
+    PubBool = rospy.Publisher(vel_cmd_topic, Bool, queue_size=10)
     rospy.Subscriber(twist_dir_topic, Twist, messageReceivedCallbackDir)
-    rospy.Subscriber(bool_vel_topic, Bool, messageReceivedCallbackVel)
+    rospy.Subscriber(vel_cmd_topic, Bool, messageReceivedCallbackVel)
+    rospy.Subscriber(bool_btn_topic, Bool, messageReceivedCallbackBtn)
 
     #Angle
 

simulation_bringup/launch/modules/write_cnn.launch

@@ -2,7 +2,7 @@
 
   <arg name="image_raw_topic" default="/ackermann_vehicle/camera/rgb/image_raw"/>
   <arg name="twist_cmd_topic" default="/cmd_vel"/>
-  <arg name="bool_cmd_topic" default=""/>
+  <arg name="vel_cmd_topic" default=""/>
   <arg name="folder" default="set1"/>
   <arg name="rate" default="30"/>
   <arg name="width" default="320"/>
@@ -11,7 +11,7 @@
   <include file="$(find cnn)/launch/write.launch">
     <arg name="image_raw_topic" value="$(arg image_raw_topic)"/>
     <arg name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
-    <arg name="bool_cmd_topic" value="$(arg bool_cmd_topic)"/>
+    <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
     <arg name="folder" value="$(arg folder)"/>
     <arg name="rate" value="$(arg rate)"/>
     <arg name="width" value="$(arg width)"/>