convert keyboard input into sensor_msgs Joy messages

Cargo.toml

@@ -1,6 +1,6 @@
 [workspace]
 resolver = "2"
-members = [ "launcher", "roslibrust_util", "tf_mcap",
+members = [ "launcher", "roslibrust_key_to_joy", "roslibrust_util", "tf_mcap",
     "tf_roslibrust",
 ]
 

roslibrust_key_to_joy/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+name = "roslibrust_key_to_joy"
+version = "0.1.0"
+edition.workspace = true
+license.workspace = true
+repository.workspace = true
+authors.workspace = true
+keywords.workspace = true
+categories.workspace = true
+
+[dependencies]
+crossterm = "0.28.1"
+anyhow.workspace = true
+clap.workspace = true
+roslibrust.workspace = true
+tokio.workspace = true
+
+[dependencies.roslibrust_util]
+path = "../roslibrust_util"

roslibrust_key_to_joy/src/main.rs

@@ -0,0 +1,115 @@
+//importing in execute! macro
+#[macro_use]
+extern crate crossterm;
+
+use anyhow::Context;
+use clap::command;
+use crossterm::cursor;
+use crossterm::event::{read, Event, KeyCode, KeyEvent, KeyModifiers};
+use crossterm::style::Print;
+use crossterm::terminal::{disable_raw_mode, Clear, ClearType};
+use roslibrust::ros1::NodeHandle;
+use roslibrust_util::sensor_msgs;
+use std::collections::HashMap;
+use std::io::stdout;
+
+#[tokio::main]
+async fn main() -> Result<(), anyhow::Error> {
+    // don't want params and remaps to be mutable after init is done
+    let (nh, _full_node_name, _params, remaps) = {
+        let mut params = HashMap::<String, String>::new();
+        params.insert("_name".to_string(), "key_to_joy".to_string());
+        let mut remaps = HashMap::<String, String>::new();
+        remaps.insert("joy".to_string(), "joy".to_string());
+
+        let (_ns, full_node_name, remaining_args) =
+            roslibrust_util::get_params_remaps(&mut params, &mut remaps);
+
+        // using clap only for version reporting currently
+        let _matches = command!().get_matches_from(remaining_args);
+
+        let ros_master_uri =
+            std::env::var("ROS_MASTER_URI").unwrap_or("http://localhost:11311".to_string());
+        let nh = NodeHandle::new(&ros_master_uri, &full_node_name).await?;
+        // log::info!("connected to roscore at {ros_master_uri}");
+
+        (nh, full_node_name, params, remaps)
+    };
+
+    let joy_topic = remaps.get("joy").context("no joy topic found")?;
+    let joy_pub = nh
+        .advertise::<sensor_msgs::Joy>(joy_topic, 8, false)
+        .await?;
+
+    let mut stdout = stdout();
+    // going into raw mode
+    // clearing the screen, going to top left corner and printing welcoming message
+    execute!(stdout, Clear(ClearType::All), cursor::MoveTo(0, 0), Print(r#"ctrl + c to exit, ctrl + h to print "Hello world", alt + t to print "crossterm is cool""#))
+            .unwrap();
+
+    /*
+    x-box
+    0 is left-right on the left stick
+    1 is up-down on the left stick
+    2 the left trigger
+    5 is the right trigger
+    */
+    let mut joy = sensor_msgs::Joy {
+        axes: vec![0.0; 5],
+        ..Default::default()
+    };
+
+    // key detection
+    loop {
+        // going to top left corner
+        execute!(stdout, cursor::MoveTo(0, 0)).unwrap();
+
+        match read().unwrap() {
+            Event::Key(KeyEvent {
+                code: KeyCode::Char('h'),
+                modifiers: KeyModifiers::CONTROL,
+                //clearing the screen and printing our message
+                ..
+            }) => execute!(stdout, Clear(ClearType::All), Print("Hello world!")).unwrap(),
+            Event::Key(KeyEvent {
+                code: KeyCode::Char('a'),
+                ..
+            }) => {
+                joy.axes[0] -= 0.1;
+                joy.axes[0] = joy.axes[0].clamp(-1.0, 1.0);
+                execute!(
+                    stdout,
+                    Clear(ClearType::All),
+                    Print(format!("left {}", joy.axes[0]))
+                )
+                .unwrap();
+            }
+            Event::Key(KeyEvent {
+                code: KeyCode::Char('d'),
+                ..
+            }) => {
+                joy.axes[0] += 0.1;
+                joy.axes[0] = joy.axes[0].clamp(-1.0, 1.0);
+                execute!(
+                    stdout,
+                    Clear(ClearType::All),
+                    Print(format!("right {}", joy.axes[0]))
+                )
+                .unwrap();
+            }
+            Event::Key(KeyEvent {
+                code: KeyCode::Char('c'),
+                modifiers: KeyModifiers::CONTROL,
+                ..
+            }) => break,
+            _ => (),
+        }
+
+        joy_pub.publish(&joy).await?;
+    }
+
+    // disabling raw mode
+    disable_raw_mode().unwrap();
+
+    Ok(())
+}