Integrate latest mobile_to_maritime API (#316) (#317)

* Added message transforms

* Fixed launch file

* cleanup launch file

(cherry picked from commit 608e987)

Co-authored-by: Evan Palmer <evanp922@gmail.com>

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:

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

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)

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.