teleop init

autonomy/teleop/README.md

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+# Teleop
+## Samples
+To run rosbridge listener:
+```
+ros2 run rosbridge_listener rosbridge_listener_node
+```
+
+To run rosbridge publisher:
+
+```
+ros2 run rosbridge_publisher rosbridge_publisher_node
+```
+
+## Running Rosbridge Server
+Rosbridge server will relay ros topics to humanoid-server. To run, use:
+```
+ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+```
+
+## Full Setup for Testing VR -> ROS
+These commands were run with the autonomy/samples folder deleted, since some packages may overlap
+
+```bash
+
+# In humanoid repo:
+cd autonomy
+colcon build
+source install/setup.bash
+ros2 run rosbridge_listener rosbridge_listener_node
+
+# Then, in another terminal:
+cd autonomy
+source install/setup.bash
+ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+
+# In humanoid-server repo:
+npm run dev
+```
+
+Then, connect to ws://localhost:3000 (default websocket url) and send an example hand pose message:
+```
+[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+```
+The message should appear in the terminal where you ran the rosbridge listener node
+

autonomy/teleop/rosbridge_example/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(rosbridge_example)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sample_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_library(rosbridge_listener_lib src/rosbridge_listener_core.cpp)
+add_library(rosbridge_publisher_lib src/rosbridge_publisher_core.cpp)
+
+target_include_directories(rosbridge_listener_lib PUBLIC include)
+
+add_executable(rosbridge_listener_node src/rosbridge_listener_node.cpp)
+add_executable(rosbridge_publisher_node src/rosbridge_publisher_node.cpp)
+
+ament_target_dependencies(rosbridge_listener_lib rclcpp std_msgs sample_msgs)
+ament_target_dependencies(rosbridge_publisher_lib rclcpp std_msgs sample_msgs)
+
+target_link_libraries(rosbridge_listener_node rosbridge_listener_lib)
+target_link_libraries(rosbridge_publisher_node rosbridge_publisher_lib)
+
+target_include_directories(rosbridge_listener_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_include_directories(rosbridge_publisher_lib PUBLIC
+$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+$<INSTALL_INTERFACE:include>)
+
+target_compile_features(rosbridge_listener_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(rosbridge_publisher_node PUBLIC c_std_99 cxx_std_17)
+
+install(TARGETS rosbridge_listener_node
+  DESTINATION lib/${PROJECT_NAME})
+  install(TARGETS rosbridge_publisher_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch)
+
+ament_package()

autonomy/teleop/rosbridge_example/include/rosbridge_listener_node.hpp

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+#ifndef ROSBRIDGE_LISTENER_NODE_HPP_
+#define ROSBRIDGE_LISTENER_NODE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "sample_msgs/msg/vr_hand_pose.hpp"
+
+#include "rosbridge_listener_core.hpp"
+
+/**
+ * Implementation of a ROS2 node that listens to the "unfiltered" and "filtered"
+ * topics and echoes the operating frequency of the topic to the console.
+ */
+class ROSbridgeListenerNode : public rclcpp::Node {
+public:
+  ROSbridgeListenerNode();
+
+private:
+  std::string
+  hand_pose_to_string(const sample_msgs::msg::VRHandPose::SharedPtr pose);
+
+  void hand_pose_callback(const sample_msgs::msg::VRHandPose::SharedPtr msg);
+
+  rclcpp::Subscription<sample_msgs::msg::VRHandPose>::SharedPtr hand_pose_sub_;
+};
+
+#endif

autonomy/teleop/rosbridge_example/include/rosbridge_publisher_core.hpp

@@ -0,0 +1,17 @@
+#ifndef ROSBRIDGE_PUBLISHER_CORE_HPP_
+#define ROSBRIDGE_PUBLISHER_CORE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "sample_msgs/msg/vr_hand_pose.hpp"
+
+class ROSbridgePublisherCore {
+public:
+  explicit ROSbridgePublisherCore();
+
+  std::string hand_pose_to_string(const sample_msgs::msg::VRHandPose pose);
+
+private:
+};
+
+#endif // AGGREGATOR_CORE_HPP_

autonomy/teleop/rosbridge_example/include/rosbridge_publisher_node.hpp

@@ -0,0 +1,28 @@
+#ifndef ROSBRIDGE_PUBLISHER_NODE_HPP_
+#define ROSBRIDGE_PUBLISHER_NODE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "sample_msgs/msg/vr_hand_pose.hpp"
+
+#include "rosbridge_publisher_core.hpp"
+
+/**
+ * Implementation of a ROS2 node that listens to the "unfiltered" and "filtered"
+ * topics and echoes the operating frequency of the topic to the console.
+ */
+class ROSbridgePublisherNode : public rclcpp::Node {
+public:
+  ROSbridgePublisherNode();
+
+private:
+  void timer_callback();
+
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  rclcpp::Publisher<sample_msgs::msg::VRHandPose>::SharedPtr hand_pose_pub_;
+
+  ROSbridgePublisherCore rosbridge_publisher_;
+};
+
+#endif

autonomy/teleop/rosbridge_example/launch/rosbridge_example.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='rosbridge_example',
+            executable='rosbridge_listener_node',
+        ),
+        Node(
+            package='rosbridge_example',
+            executable='rosbridge_publisher_node',
+        ),
+    ])

autonomy/teleop/rosbridge_example/package.xml

@@ -0,0 +1,22 @@
+<?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>rosbridge_example</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yichen@todo.todo">yichen</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sample_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autonomy/teleop/rosbridge_example/src/rosbridge_listener_node.cpp

@@ -0,0 +1,38 @@
+#include "rosbridge_listener_node.hpp"
+
+#include <algorithm>
+#include <string>
+
+ROSbridgeListenerNode::ROSbridgeListenerNode() : Node("rosbridge_listener") {
+
+  hand_pose_sub_ = this->create_subscription<sample_msgs::msg::VRHandPose>(
+      "teleop", 10,
+      std::bind(&ROSbridgeListenerNode::hand_pose_callback, this,
+                std::placeholders::_1));
+}
+
+std::string ROSbridgeListenerNode::hand_pose_to_string(
+    const sample_msgs::msg::VRHandPose::SharedPtr pose) {
+  std::string s;
+  std::vector<float> positions = pose->positions;
+  s += "[";
+  for (int i = 0; i < positions.size(); i++) {
+    s += std::to_string(positions[i]);
+    s += ",";
+  }
+  s += "]";
+  return s;
+}
+
+void ROSbridgeListenerNode::hand_pose_callback(
+    const sample_msgs::msg::VRHandPose::SharedPtr msg) {
+  RCLCPP_INFO(this->get_logger(), "Received Hand Data: %s",
+              hand_pose_to_string(msg).c_str());
+}
+
+int main(int argc, char **argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<ROSbridgeListenerNode>());
+  rclcpp::shutdown();
+  return 0;
+}

autonomy/teleop/rosbridge_example/src/rosbridge_publisher_core.cpp

@@ -0,0 +1,19 @@
+#include <chrono>
+#include <cmath>
+
+#include "rosbridge_publisher_core.hpp"
+
+ROSbridgePublisherCore::ROSbridgePublisherCore() {}
+
+std::string ROSbridgePublisherCore::hand_pose_to_string(
+    const sample_msgs::msg::VRHandPose pose) {
+  std::string s;
+  std::vector<float> positions = pose.positions;
+  s += "[";
+  for (int i = 0; i < positions.size(); i++) {
+    s += std::to_string(positions[i]);
+    s += ",";
+  }
+  s += "]";
+  return s;
+}

autonomy/teleop/rosbridge_example/src/rosbridge_publisher_node.cpp

@@ -0,0 +1,31 @@
+#include "rosbridge_publisher_node.hpp"
+
+#include <chrono>
+#include <memory>
+
+using namespace std::chrono_literals;
+
+ROSbridgePublisherNode::ROSbridgePublisherNode()
+    : Node("rosbridge_publisher"),
+      rosbridge_publisher_(ROSbridgePublisherCore()) {
+
+  hand_pose_pub_ =
+      this->create_publisher<sample_msgs::msg::VRHandPose>("teleop", 10);
+  timer_ = this->create_wall_timer(
+      500ms, std::bind(&ROSbridgePublisherNode::timer_callback, this));
+}
+
+void ROSbridgePublisherNode::timer_callback() {
+  auto message = sample_msgs::msg::VRHandPose();
+  message.positions = std::vector<float>(17);
+  RCLCPP_INFO(this->get_logger(), "Publishing: '%s'",
+              rosbridge_publisher_.hand_pose_to_string(message).c_str());
+  hand_pose_pub_->publish(message);
+}
+
+int main(int argc, char **argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<ROSbridgePublisherNode>());
+  rclcpp::shutdown();
+  return 0;
+}

autonomy/wato_msgs/sample_msgs/CMakeLists.txt

@@ -17,7 +17,8 @@ set(msg_files
     msg/Filtered.msg
     msg/FilteredArray.msg
     msg/Unfiltered.msg
-    msg/Metadata.msg)
+    msg/Metadata.msg
+    msg/VRHandPose.msg)
 rosidl_generate_interfaces(sample_msgs
     ${msg_files}
     DEPENDENCIES std_msgs)

autonomy/wato_msgs/sample_msgs/msg/VRHandPose.msg

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+float32[] positions

docker/teleop/teleop.Dockerfile

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+ARG BASE_IMAGE=ghcr.io/watonomous/robot_base/base:humble-ubuntu22.04
+
+################################ Source ################################
+FROM ${BASE_IMAGE} AS source
+
+WORKDIR ${AMENT_WS}/src
+
+# Copy source code
+COPY autonomy/teleop teleop
+COPY autonomy/wato_msgs/sample_msgs sample_msgs
+
+# Install rosdep if not present, update package lists
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends python3-rosdep && \
+    rm -rf /var/lib/apt/lists/*
+
+# Update rosdep database (safe in containers)
+RUN rosdep update
+
+# Generate dependency list (simulated install → extract apt packages)
+RUN rosdep install \
+    --from-paths . \
+    --ignore-src \
+    --rosdistro $ROS_DISTRO \
+    -y \
+    --simulate | \
+    grep "apt-get install" | \
+    sed 's/apt-get install -y //' > /tmp/colcon_install_list || true
+
+
+################################ Dependencies ################################
+FROM ${BASE_IMAGE} AS dependencies
+
+# Copy dependency list from source stage
+COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+
+# Install dependencies + tools (update must be in same layer)
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+        $(cat /tmp/colcon_install_list) && \
+    rm -rf /var/lib/apt/lists/*
+
+# Copy source code into workspace
+WORKDIR ${AMENT_WS}
+COPY --from=source ${AMENT_WS}/src src
+
+
+################################ Build ################################
+FROM dependencies AS build
+
+WORKDIR ${AMENT_WS}
+
+# Build ROS2 workspace
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release \
+        --install-base ${WATONOMOUS_INSTALL}
+
+# Remove source + build artifacts (keeps only install)
+RUN rm -rf src build log
+
+# Pass udev symlinks into container
+ENV UDEV=1
+
+# Entrypoint
+COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]