Modified Twist imports to work with Jazzy. Also added Joy Teleop

turtlebot3_bringup/launch/joystick_teleop.launch.py

@@ -0,0 +1,47 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    # Include the robot bringup launch file
+    robot_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('turtlebot3_bringup'),
+                'launch',
+                'robot.launch.py'
+            ])
+        ])
+    )
+
+    # Joy node to read joystick
+    joy_node = Node(
+        package='joy',
+        executable='joy_node',
+        name='joy_node'
+    )
+
+    # Teleop node to convert joy to cmd_vel
+    teleop_node = Node(
+        package='teleop_twist_joy',
+        executable='teleop_node',
+        name='teleop_twist_joy_node',
+        parameters=[{
+            'axis_linear.x': 1,
+            'axis_angular.yaw': 3,
+            'publish_stamped_twist': True,
+            'scale_linear.x': 0.5,
+            'scale_angular.yaw': 0.5,
+        }]
+    )
+
+    return LaunchDescription([
+        robot_bringup,
+        joy_node,
+        teleop_node
+    ])

turtlebot3_example/turtlebot3_example/turtlebot3_patrol/turtlebot3_patrol_server.py

@@ -21,7 +21,7 @@
 import time
 
 from geometry_msgs.msg import Point
-from geometry_msgs.msg import Twist
+from geometry_msgs.msg import Twist, TwistStamped
 from nav_msgs.msg import Odometry
 import rclpy
 from rclpy.action import ActionServer
@@ -50,7 +50,7 @@ def __init__(self):
             goal_callback=self.goal_callback)
 
         self.goal_msg = Patrol.Goal()
-        self.twist = Twist()
+        self.twist = TwistStamped()
         self.odom = Odometry()
         self.position = Point()
         self.rotation = 0.0
@@ -60,15 +60,15 @@ def __init__(self):
 
         qos = QoSProfile(depth=10)
 
-        self.cmd_vel_pub = self.create_publisher(Twist, 'cmd_vel', qos)
+        self.cmd_vel_pub = self.create_publisher(TwistStamped, 'cmd_vel', qos)
 
         self.odom_sub = self.create_subscription(
             Odometry, 'odom', self.odom_callback, qos
         )
 
     def init_twist(self):
-        self.twist.linear.x = 0.0
-        self.twist.angular.z = 0.0
+        self.twist.twist.linear.x = 0.0
+        self.twist.twist.angular.z = 0.0
         self.cmd_vel_pub.publish(self.twist)
 
     def odom_callback(self, msg):
@@ -82,11 +82,11 @@ def get_yaw(self):
 
     def go_front(self, position, length):
         while True:
-            position += self.twist.linear.x
+            position += self.twist.twist.linear.x
             if position >= length:
                 break
-            self.twist.linear.x = self.linear_x
-            self.twist.angular.z = 0.0
+            self.twist.twist.linear.x = self.linear_x
+            self.twist.twist.angular.z = 0.0
             self.cmd_vel_pub.publish(self.twist)
 
             time.sleep(1)
@@ -110,8 +110,8 @@ def turn(self, target_angle):
             if yaw_diff < 0.01:
                 break
 
-            self.twist.linear.x = 0.0
-            self.twist.angular.z = self.angular_z
+            self.twist.twist.linear.x = 0.0
+            self.twist.twist.angular.z = self.angular_z
             self.cmd_vel_pub.publish(self.twist)
 
         self.init_twist()