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Add simulated Xbox teleop for the arm (from #24) - #28
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Reviewed in #24, which was merged into its stacked base after #23 had already been squash-merged into main, so it never reached main. This is the same change, applied to main. Drive the five joints with an Xbox controller through placeholder MKS SERVO42D/57D CAN drives, simulated until the real drives are connected. On Windows, a Python-only XInput bridge sends the controller state to the new wslg-teleop Compose service over UDP. The RViz camera follows the tool so the end of the arm stays in view; follow_camera:=false keeps a fixed view. teleop and joy_source use And/Or/Equals substitutions, so teleop:=True works like IfCondition. The new nodes receive use_sim_time, and the UDP receiver reads at most 100 packets per poll so a flood cannot starve its other callbacks.
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Check name Status Explanation Linked Issues check Check skipped because no linked issues were found for this pull request. Out of Scope Changes check Check skipped because no linked issues were found for this pull request. Description Check Check skipped - CodeRabbit’s high-level summary is enabled. Title check The title clearly and concisely describes the main change: adding simulated Xbox teleoperation for the arm.
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Docstring coverage is 18.71% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 155 functions across 25 files. (1 skipped: 1 unsupported.)
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🟡 Changes recommended
The simulated heartbeat cannot detect scheduler stalls because elapsed time is capped before heartbeat accounting.
Review effort: Balanced
Findings: 2
Open (2)
What changed in this PR
Restores #24’s simulated Xbox arm teleoperation onto main, including controller input, simulated CAN drives, visualization, launch integration, and documentation.
Changes:
- Adds Xbox-to-joint teleoperation with safety limits and UDP bridging.
- Adds simulated MKS CAN drives and joint feedback.
- Integrates teleoperation and camera following into launch, RViz, Compose, and tests.
| File | Description |
|---|---|
waybionic_teleop/waybionic_teleop/xinput_bridge.py |
Adds Windows XInput UDP bridge. |
waybionic_teleop/waybionic_teleop/xbox_teleop_node.py |
Adds ROS teleoperation node. |
waybionic_teleop/waybionic_teleop/teleop.py |
Implements controller and motion logic. |
waybionic_teleop/waybionic_teleop/sim_drives.py |
Simulates MKS drives and CAN bus. |
waybionic_teleop/waybionic_teleop/sim_arm_drives_node.py |
Connects simulated drives to ROS. |
waybionic_teleop/waybionic_teleop/mks_can.py |
Implements MKS CAN frame encoding. |
waybionic_teleop/waybionic_teleop/joy_udp_receiver.py |
Receives controller packets over UDP. |
waybionic_teleop/waybionic_teleop/gamepad.py |
Defines controller layout and packet format. |
waybionic_teleop/waybionic_teleop/drive_map.py |
Maps joints to coupled drives. |
waybionic_teleop/waybionic_teleop/__init__.py |
Initializes the Python package. |
waybionic_teleop/test/test_xinput_bridge.py |
Tests XInput translation. |
waybionic_teleop/test/test_teleop.py |
Tests teleoperation behavior. |
waybionic_teleop/test/test_sim_drives.py |
Tests simulated drives. |
waybionic_teleop/test/test_pep257.py |
Adds docstring linting. |
waybionic_teleop/test/test_mks_can.py |
Tests CAN protocol frames. |
waybionic_teleop/test/test_gamepad.py |
Tests UDP packet handling. |
waybionic_teleop/test/test_flake8.py |
Adds style linting. |
waybionic_teleop/test/test_drive_map.py |
Tests drive mapping. |
waybionic_teleop/test/conftest.py |
Adds parameter-loading fixtures. |
waybionic_teleop/setup.py |
Configures package installation and executables. |
waybionic_teleop/setup.cfg |
Configures ROS script installation. |
waybionic_teleop/resource/waybionic_teleop |
Registers the ROS package. |
waybionic_teleop/package.xml |
Declares package dependencies. |
waybionic_teleop/config/xbox_teleop.yaml |
Defines controls and motion limits. |
waybionic_teleop/config/arm_drives.yaml |
Defines simulated drive mapping. |
waybionic_bringup/test/test_teleop_launch.py |
Adds end-to-end teleop testing. |
waybionic_bringup/test/test_ground_station_launch.py |
Tests fixed camera focus. |
waybionic_bringup/test/test_arm_model_launch.py |
Tests camera tracking. |
waybionic_bringup/scripts/camera_follower.py |
Publishes the camera focus frame. |
waybionic_bringup/rviz/waybionic_unified.rviz |
Adds teleop markers and camera target. |
waybionic_bringup/package.xml |
Adds teleop and camera dependencies. |
waybionic_bringup/launch/ground_station.launch.py |
Integrates teleop and camera nodes. |
waybionic_bringup/CMakeLists.txt |
Installs and tests new components. |
README.md |
Documents the teleop package. |
compose.yaml |
Adds the WSLg teleop service. |
BuildInstructions.md |
Documents controller setup and operation. |
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Actionable comments posted: 2
- 🪄 Fix CodeRabbit comments on this PR
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Inline comments:
Review comments at @waybionic_teleop/waybionic_teleop/sim_arm_drives_node.py:
- Around line 90-109: Update SimArmDrives.tick and the joint_commands handling
to track command freshness independently of CAN polling, which must not refresh
the command heartbeat. When joint commands expire, stop the active target so a
move cannot continue without controller input; preserve normal target updates
while commands remain fresh.
Review comments at @waybionic_teleop/waybionic_teleop/xbox_teleop_node.py:
- Around line 80-90: Update load() to publish a hold command from the existing
enabled ArmTeleop before replacing it when robot_description is reloaded.
Disable it using the current measured state, then carry its note and warning to
the new disabled instance so teleop remains disabled and reports the reload
status.
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📒 Files selected for processing (36)
BuildInstructions.mdREADME.mdcompose.yamlwaybionic_bringup/CMakeLists.txtwaybionic_bringup/launch/ground_station.launch.pywaybionic_bringup/package.xmlwaybionic_bringup/rviz/waybionic_unified.rvizwaybionic_bringup/scripts/camera_follower.pywaybionic_bringup/test/test_arm_model_launch.pywaybionic_bringup/test/test_ground_station_launch.pywaybionic_bringup/test/test_teleop_launch.pywaybionic_teleop/config/arm_drives.yamlwaybionic_teleop/config/xbox_teleop.yamlwaybionic_teleop/package.xmlwaybionic_teleop/resource/waybionic_teleopwaybionic_teleop/setup.cfgwaybionic_teleop/setup.pywaybionic_teleop/test/conftest.pywaybionic_teleop/test/test_drive_map.pywaybionic_teleop/test/test_flake8.pywaybionic_teleop/test/test_gamepad.pywaybionic_teleop/test/test_mks_can.pywaybionic_teleop/test/test_pep257.pywaybionic_teleop/test/test_sim_drives.pywaybionic_teleop/test/test_teleop.pywaybionic_teleop/test/test_xinput_bridge.pywaybionic_teleop/waybionic_teleop/__init__.pywaybionic_teleop/waybionic_teleop/drive_map.pywaybionic_teleop/waybionic_teleop/gamepad.pywaybionic_teleop/waybionic_teleop/joy_udp_receiver.pywaybionic_teleop/waybionic_teleop/mks_can.pywaybionic_teleop/waybionic_teleop/sim_arm_drives_node.pywaybionic_teleop/waybionic_teleop/sim_drives.pywaybionic_teleop/waybionic_teleop/teleop.pywaybionic_teleop/waybionic_teleop/xbox_teleop_node.pywaybionic_teleop/waybionic_teleop/xinput_bridge.py
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On a busy CI runner the teleop node could still be loading the robot description when the test pressed Start, so the press was lost and the arm never moved. The test now sends idle packets until teleop reports its group and fresh controller input.
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The tests could press Start before the teleop node had loaded the robot description or received controller input, so the press was lost on a busy machine. They now send idle packets until teleop reports its group and fresh input. Same fix as on #28.
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- Joint commands that stop mid-move, say because teleop exited, now stop every drive where it is instead of letting it run on to the last target. - The simulated drives integrate the full time since the last tick in 10 ms steps, so a pause longer than the heartbeat stops a moving drive, as on hardware. - Axis coordinates take the whole int24 range, down to -0x800000.
absolute_axis rejected -0x800000, which the manual's 3-byte signed coordinate encodes. The node also capped the elapsed time it handed the drives at 100 ms, so a scheduler stall longer than the heartbeat never stopped a moving drive the way hardware would. The drive splits a long step into 10 ms motion steps and counts all of it toward the heartbeat.
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- 🪄 Fix CodeRabbit comments on this PR
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only still-valid issues, skip the rest with a brief reason, keep changes
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Inline comments:
Review comments at @waybionic_teleop/waybionic_teleop/sim_arm_drives_node.py:
- Line 92: In tick(), advance the simulated bus by the elapsed dt before sending
pending targets; move the existing bus.step(dt) call ahead of the pending check
and send_targets() so a delayed tick cannot stop the newly issued move.
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📒 Files selected for processing (6)
waybionic_bringup/test/test_teleop_launch.pywaybionic_teleop/test/test_mks_can.pywaybionic_teleop/test/test_sim_drives.pywaybionic_teleop/waybionic_teleop/mks_can.pywaybionic_teleop/waybionic_teleop/sim_arm_drives_node.pywaybionic_teleop/waybionic_teleop/sim_drives.py
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@mujtaba-zia The amd64 and arm64 build checks passed at head |
Advance simulated heartbeat time before accepting new targets. Use MKS F5 zero-speed frames to stop moving drives and stop all drives on invalid targets. Handle ROS shutdown races without accepting failed node exits. Add controller, CAN, and launch regressions.
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Change
This branch restores the simulated Xbox teleop originally proposed in #24 on top of
main. Its launch test waits for both controller input and the teleop group before pressing Start, avoiding an initialization race.The new safety fix at
f7b7f64advances simulated heartbeat time before applying targets after a delayed host tick. A zero-velocity or disabled command sends the MKS F5 zero-speed, zero-acceleration frame to each active simulated drive. A nonfinite position or velocity, or an out-of-range target, stops all six simulated drives without partially sending new targets; a later valid command can re-arm them. ROS shutdown catches only the invalid-context error when the context has actually stopped.Verification
The isolated ROS Jazzy Compose test stage passed: 317 distinct executed test cases and 19 duplicate CTest wrapper results, reported as 336 total with zero errors, failures or skips. The launch case exercised UDP gamepad input, teleop, six in-process simulated CAN drives and encoder feedback. Regression cases cover an overdue heartbeat, six-drive stop and re-arm, overflow without partial updates, ROS shutdown error handling and MKS F5 immediate-stop framing. An out-of-tree CA-only Dockerfile variation was needed because the unmodified Docker build could not verify the rosdep host's TLS certificate; the repository Dockerfile was unchanged.
Safety and merge gates
This is simulated behavior only. Powered motors, firmware acceptance, native
vcanframes and a physical E-stop have not been tested. The inheritedcan_demo.launch.pypath withstart_mock_drives=falsecan select SocketCAN with provisional floating-point CAN FD frames; it is unchanged in this PR and must be made fail-closed before any powered-MKS use. The placeholder drive speed is capped at 300 RPM; immediate stops must be reviewed against the motor manual and real electrical limits. The dependent PR27, PR31 and PR37 branches require their own integrated-stack tests after this new base. All five review threads are resolved. An independent code-owner approval is still required before merging.