created py launchfiles for joystick_interface and pc.launch + minor r…

…estructuring

asv_setup/launch/pc.launch.py

@@ -0,0 +1,42 @@
+import os
+from launch import LaunchDescription
+from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    # Set environment variable
+    set_env_var = SetEnvironmentVariable(
+        name='ROSCONSOLE_FORMAT',
+        value='[${severity}] [${time}] [${node}]: ${message}'
+    )
+
+    # Joystick node
+    joy_node = Node(
+        package='joy',
+        executable='joy_node',
+        name='joystick_driver',
+        output='screen',
+        parameters=[
+            {'_deadzone': 0.15},
+            {'_autorepeat_rate': 100},
+        ],
+        remappings=[
+            ('/joy', '/joystick/joy'),
+        ],
+    )
+
+    # Joystick interface launch
+    joystick_interface_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('joystick_interface'), 'launch/joystick_interface.launch.py')
+        )
+    )
+
+    # Return launch description
+    return LaunchDescription([
+        set_env_var,
+        joy_node,
+        joystick_interface_launch
+    ])

mission/joystick_interface/CMakeLists.txt

@@ -12,6 +12,12 @@ find_package(geometry_msgs REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
 install(PROGRAMS
   joystick_interface/joystick_interface.py
   DESTINATION lib/${PROJECT_NAME}
@@ -20,7 +26,7 @@ install(PROGRAMS
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   set(_pytest_tests
-    joystick_interface/test/test_joystick_interface.py
+    test/test_joystick_interface.py
   )
   foreach(_test_path ${_pytest_tests})
     get_filename_component(_test_name ${_test_path} NAME_WE)

mission/joystick_interface/joystick_interface/joystick_interface.py

@@ -53,9 +53,9 @@ def __init__(self):
                                                       "thrust/wrench_input",
                                                       1)
 
-        self.declare_parameter('surge_scale_factor', 100.0)
-        self.declare_parameter('sway_scale_factor', 100.0)
-        self.declare_parameter('yaw_scale_factor', 100.0)
+        self.declare_parameter('surge_scale_factor', 50.0)
+        self.declare_parameter('sway_scale_factor', 50.0)
+        self.declare_parameter('yaw_scale_factor', 50.0)
 
         #Gets the scaling factors from the yaml file
         self.joystick_surge_scaling = self.get_parameter('surge_scale_factor').value

mission/joystick_interface/launch/joystick_interface.launch.py

@@ -0,0 +1,21 @@
+import os
+from launch import LaunchDescription 
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    joystick_interface_node = Node(
+        package='joystick_interface',
+        executable='joystick_interface.py',
+        name='joystick_interface',
+        output='screen',
+        parameters=[os.path.join(get_package_share_directory('joystick_interface'), 'config/param_joystick_interface.yaml')]
+    )
+
+    return LaunchDescription([
+        joystick_interface_node
+    ])
+

mission/joystick_interface/package.xml

@@ -9,7 +9,7 @@
 
   <license>MIT</license>
 
-  <buildtool_depend>ament_cmake_python</buildtool_depend>
+  <buildtool_depend>ament_python</buildtool_depend>
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>