From 349043aafcbb4c6c2a1f385c74c016fd9b1746af Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 23 Sep 2024 22:39:31 -0700
Subject: [PATCH] Integrate latest mobile_to_maritime API (#316) (#319)

* Added message transforms

* Fixed launch file

* cleanup launch file

(cherry picked from commit 608e987f1f66d4ed998a55887774ed2dcd7f9e3b)

Co-authored-by: Evan Palmer <evanp922@gmail.com>
---
 .../teleoperation/config/joy_teleop.yaml       |  2 +-
 .../teleoperation/config/transforms.yaml       | 10 ++++++++++
 .../launch/joy_teleop.launch.yaml              | 18 +++++++-----------
 docs/docs/tutorials/teleop.mdx                 | 11 +++++++++--
 4 files changed, 27 insertions(+), 14 deletions(-)
 create mode 100644 blue_demos/teleoperation/config/transforms.yaml

diff --git a/blue_demos/teleoperation/config/joy_teleop.yaml b/blue_demos/teleoperation/config/joy_teleop.yaml
index c1d3dd7a..aa19c8b6 100644
--- a/blue_demos/teleoperation/config/joy_teleop.yaml
+++ b/blue_demos/teleoperation/config/joy_teleop.yaml
@@ -8,7 +8,7 @@ joy_teleop:
     manual_control:
       type: topic
       interface_type: geometry_msgs/msg/Twist
-      topic_name: cmd_vel
+      topic_name: /cmd_vel
       deadman_axes: [2]
       axis_mappings:
         linear-x:
diff --git a/blue_demos/teleoperation/config/transforms.yaml b/blue_demos/teleoperation/config/transforms.yaml
new file mode 100644
index 00000000..00c04540
--- /dev/null
+++ b/blue_demos/teleoperation/config/transforms.yaml
@@ -0,0 +1,10 @@
+message_transforms:
+  ros__parameters:
+
+    incoming_topics:
+      - /cmd_vel
+
+    transforms:
+      /cmd_vel:
+        outgoing_topic: /integral_sliding_mode_controller/reference
+        message_type: geometry_msgs/msg/Twist
diff --git a/blue_demos/teleoperation/launch/joy_teleop.launch.yaml b/blue_demos/teleoperation/launch/joy_teleop.launch.yaml
index 34598461..966f3620 100644
--- a/blue_demos/teleoperation/launch/joy_teleop.launch.yaml
+++ b/blue_demos/teleoperation/launch/joy_teleop.launch.yaml
@@ -5,8 +5,8 @@ launch:
       default: $(find-pkg-share blue_demos)/teleoperation/config/joy_teleop.yaml
 
   - arg:
-      name: use_maritime
-      default: "true"
+      name: transforms_file
+      default: $(find-pkg-share blue_demos)/teleoperation/config/transforms.yaml
 
   - node:
       pkg: joy_linux
@@ -22,12 +22,8 @@ launch:
       param:
         - from: $(var joy_file)
 
-  - node:
-      pkg: mobile_to_maritime
-      exec: mobile_twist_to_maritime_twist
-      param:
-        - name: in_topic
-          value: cmd_vel
-        - name: out_topic
-          value: /integral_sliding_mode_controller/reference
-      if: $(var use_maritime)
+  - include:
+      file: $(find-pkg-share message_transforms)/launch/message_transforms.launch.py
+      arg:
+        - name: parameters_file
+          value: $(var transforms_file)
diff --git a/docs/docs/tutorials/teleop.mdx b/docs/docs/tutorials/teleop.mdx
index f2e1796a..6e468a91 100644
--- a/docs/docs/tutorials/teleop.mdx
+++ b/docs/docs/tutorials/teleop.mdx
@@ -51,10 +51,17 @@ Docker as described in the [installation instructions](/installation).
    [REP-105](https://ros.org/reps/rep-0105.html); however, the launched ISMC
    adheres to the maritime conventions recorded in [REP-156](https://github.com/ros-infrastructure/rep/pull/398).
    To convert the velocity commands to the appropriate convention, run the
-   following `mobile_to_maritime` message filter in a new terminal:
+   `message_transforms` node in a new terminal:
 
    ```bash
-   ros2 run mobile_to_maritime mobile_twist_to_maritime_twist --ros-args -p in_topic:=/cmd_vel -p out_topic:=/integral_sliding_mode_controller/reference
+   ros2 launch message_transforms message_transforms.launch.py parameters_file:=<path/to/transforms.yaml>
+   ```
+
+   where `<path/to/transforms.yaml>` should be replaced with the path to the
+   `transforms.yaml` file in the `blue_demos` package, e.g.,
+
+   ```bash
+   ros2 launch message_transforms message_transforms.launch.py parameters_file:=./blue_demos/teleoperation/config/transforms.yaml
    ```
 
 5. You should now be able to teleoperate the BlueROV2 using your keyboard.