Add container that can be run on a remote machine to move the robot

docker-compose.yml

@@ -88,6 +88,37 @@ services:
       - POLL_INTERVAL=${POLL_INTERVAL:-15}
     restart: unless-stopped
 
+  teleop:
+    build:
+      context: teleop
+      dockerfile: Dockerfile
+      platforms:
+        - linux/amd64
+        - linux/arm64
+    image: raspbot_v2_teleop:latest
+    network_mode: host
+    ipc: host
+    stdin_open: true
+    tty: true
+    devices:
+      - ${JOYSTICK_DEV:-/dev/input/js0}:/dev/input/js0
+      - ${JOYSTICK2_DEV:-/dev/input/js1}:/dev/input/js1
+      - ${JOYSTICK_EVENT_DEV:-/dev/input/event0}:/dev/input/event0
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      # Joystick config name — must match a file in teleop_twist_joy/config/ (without .config.yaml).
+      # e.g. ps5, ps4, xbox, atk3. Leave unset to use teleop_twist_joy defaults.
+      - JOY_CONFIG=${JOY_CONFIG:-}
+      # FastDDS profile restricts DDS traffic to a single interface.
+      # Override FASTDDS_INTERFACE in .env or on the command line (e.g. eth0, wlan1).
+      - FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_wifi.xml
+      - FASTDDS_INTERFACE=${FASTDDS_INTERFACE:-wlan0}
+    # Not started by default — run explicitly:
+    #   keyboard: docker compose run --rm teleop teleop-keyboard
+    #   joystick: docker compose run --rm teleop teleop-joystick
+    profiles:
+      - teleop
+
   webui:
     build:
       context: webui

teleop/Dockerfile

@@ -0,0 +1,21 @@
+ARG ROS_DISTRO=kilted
+FROM ros:${ROS_DISTRO}-ros-base
+ARG ROS_DISTRO
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        ros-${ROS_DISTRO}-teleop-twist-keyboard \
+        ros-${ROS_DISTRO}-teleop-twist-joy \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY src/fastdds_wifi.xml /fastdds_wifi.xml
+COPY src/teleop-keyboard  /usr/local/bin/teleop-keyboard
+COPY src/teleop-joystick  /usr/local/bin/teleop-joystick
+RUN chmod +x /usr/local/bin/teleop-keyboard /usr/local/bin/teleop-joystick
+
+RUN echo '#!/bin/bash'                                         > /entrypoint.sh \
+ && echo 'set -e'                                             >> /entrypoint.sh \
+ && echo "source /opt/ros/${ROS_DISTRO}/setup.bash"           >> /entrypoint.sh \
+ && echo 'exec "$@"'                                          >> /entrypoint.sh \
+ && chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]

teleop/README.md

@@ -0,0 +1,158 @@
+# Teleop
+
+Container for manually driving the robot via keyboard or joystick.
+Both modes publish `TwistStamped` on `/cmd_vel` as required by the mecanum drive controller.
+
+The container is not started by the default `docker compose up` — it must be launched explicitly with `docker compose run`.
+
+## Prerequisites
+
+Build the image once before first use:
+
+```bash
+docker compose build teleop
+```
+
+## Keyboard
+
+```bash
+docker compose run --rm teleop teleop-keyboard
+```
+
+Use the standard `teleop_twist_keyboard` bindings (`i`, `,`, `j`, `l`, etc.) to drive.
+Press `k` to stop.
+
+## Joystick
+
+```bash
+docker compose run --rm teleop teleop-joystick
+```
+
+The script starts `joy_node` and `teleop_twist_joy_node` together; both are stopped
+when you press Ctrl+C.
+
+The controller layout defaults to `ps5`. Override `JOY_CONFIG` with any config name
+from the `teleop_twist_joy` package (e.g. `ps4`, `xbox`, `atk3`):
+
+```bash
+JOY_CONFIG=xbox docker compose run --rm teleop teleop-joystick
+```
+
+To list all available configs:
+
+```bash
+docker compose run --rm teleop bash -c \
+  "ls \$(ros2 pkg prefix teleop_twist_joy)/share/teleop_twist_joy/config/"
+```
+
+The container expects the joystick at `/dev/input/js0`.
+If your device is at a different path, set `JOYSTICK_DEV` before running:
+
+```bash
+JOYSTICK_DEV=/dev/input/js1 docker compose run --rm teleop teleop-joystick
+```
+
+## Running from a remote machine
+
+The container includes a FastDDS profile that restricts DDS discovery and traffic
+to a single network interface, preventing traffic leaking onto unintended interfaces
+(e.g. a wired link alongside the robot's Wi-Fi).
+
+The interface defaults to `wlan0`. Override it with the `FASTDDS_INTERFACE` variable:
+
+```bash
+FASTDDS_INTERFACE=wlan1 docker compose run --rm teleop teleop-keyboard
+```
+
+Or set it permanently in your `.env` file:
+
+```
+FASTDDS_INTERFACE=wlan0
+```
+
+The robot containers do not currently apply this FastDDS profile, so both ends must
+be reachable on the configured interface for DDS discovery to succeed. Ensure the
+`ROS_DOMAIN_ID` matches on all machines.
+
+
+## Useful commands
+
+### Working out the network interface to bind to
+
+TODO: show how to find the correct network interface to bind FastDDS to...
+TODO: Create a script to do this?
+
+Look at the output of `ip addr`, and see which interface is on the sane network as the robot.
+
+For example, this output
+
+```bash
+___snip___
+3: wlp195s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
+    link/ether 84:9e:56:9c:a1:b5 brd ff:ff:ff:ff:ff:ff
+    inet 192.168.1.207/24 brd 192.168.1.255 scope global dynamic noprefixroute wlp195s0
+       valid_lft 79183sec preferred_lft 79183sec
+    inet6 fe80::32f4:b953:b7ca:e415/64 scope link noprefixroute
+       valid_lft forever preferred_lft forever
+___snip___
+```
+shows that interface wlp195s0 is on the same network as my robot at ip address 192.168.1.166/24.
+
+You should therefore set `FASTDDS_INTERFACE=wlp195s0`.
+
+### Working out the correct devices to pass through
+
+I am assuming you have a PS DualSense controller, because this is what I used to test.
+
+```bash
+cat /proc/bus/input/devices | grep -A 8 "DualSense"
+N: Name="Sony Interactive Entertainment DualSense Wireless Controller"
+P: Phys=
+S: Sysfs=/devices/pci0000:00/0000:00:08.3/0000:c7:00.0/usb3/3-1/3-1:1.3/0003:054C:0CE6.0001/input/input3
+U: Uniq=a0:ab:51:b5:7e:fb
+H: Handlers=event3 js0
+B: PROP=0
+B: EV=20000b
+B: KEY=7fdb000000000000 0 0 0 0
+B: ABS=3003f
+--
+N: Name="Sony Interactive Entertainment DualSense Wireless Controller Motion Sensors"
+P: Phys=
+S: Sysfs=/devices/pci0000:00/0000:00:08.3/0000:c7:00.0/usb3/3-1/3-1:1.3/0003:054C:0CE6.0001/input/input5
+U: Uniq=a0:ab:51:b5:7e:fb
+H: Handlers=event5 js1
+B: PROP=40
+B: EV=19
+B: ABS=3f
+B: MSC=20
+--
+N: Name="Sony Interactive Entertainment DualSense Wireless Controller Touchpad"
+P: Phys=
+S: Sysfs=/devices/pci0000:00/0000:00:08.3/0000:c7:00.0/usb3/3-1/3-1:1.3/0003:054C:0CE6.0001/input/input6
+U: Uniq=a0:ab:51:b5:7e:fb
+H: Handlers=mouse0 event6
+B: PROP=5
+B: EV=b
+B: KEY=2420 10000 0 0 0 0
+B: ABS=260800000000003
+```
+
+This shows me that the primary control input is on `js0` and `event3`.  So I would need to launch the container like this:
+
+```bash
+# Note that /dev/input/js0 is already mapped by default
+JOYSTICK_EVENT_DEV=/dev/input/event3 docker compose run --rm teleop teleop-joystick
+```
+
+### Test the joystick is bound in the container
+
+Install the jstest package
+
+```bash
+# In the container
+apt update
+apt-get install joystick
+# Inside the container, the joystick is always mapped to js0
+jstest /dev/input/js0
+
+```

teleop/src/fastdds_wifi.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+  <transport_descriptors>
+    <transport_descriptor>
+      <transport_id>udp_wifi</transport_id>
+      <type>UDPv4</type>
+      <interfaceWhiteList>
+        <address>${FASTDDS_INTERFACE}</address>
+      </interfaceWhiteList>
+    </transport_descriptor>
+  </transport_descriptors>
+  <participant profile_name="default_profile" is_default_profile="true">
+    <rtps>
+      <userTransports>
+        <transport_id>udp_wifi</transport_id>
+      </userTransports>
+      <useBuiltinTransports>false</useBuiltinTransports>
+    </rtps>
+  </participant>
+</profiles>

teleop/src/teleop-joystick

@@ -0,0 +1,13 @@
+#!/bin/bash
+ros2 run joy joy_node &
+JOY_PID=$!
+trap "kill $JOY_PID 2>/dev/null" EXIT
+
+PARAMS=(-p publish_stamped_twist:=true)
+if [[ -n "${JOY_CONFIG}" ]]; then
+    CONFIG_PATH="$(ros2 pkg prefix teleop_twist_joy)/share/teleop_twist_joy/config/${JOY_CONFIG}.config.yaml"
+    PARAMS=(--params-file "$CONFIG_PATH" "${PARAMS[@]}")
+fi
+
+exec ros2 run teleop_twist_joy teleop_node \
+    --ros-args "${PARAMS[@]}" "$@"

teleop/src/teleop-keyboard

@@ -0,0 +1,3 @@
+#!/bin/bash
+exec ros2 run teleop_twist_keyboard teleop_twist_keyboard \
+    --ros-args -p stamped:=true "$@"

troubleshooting.md

@@ -21,3 +21,4 @@ If you are getting a message like:
  This could be because there is no `/tf` topic available.  This topic is used to describe the relationship between coordinate systems (robot position, lidar position, camera position etc).
 
  If this is the case, you can changet the fixed frame reference to the lidar itself.  Change the `Global Options -> Fixed Frame` option from `map` to `laser` to tell the system to use the laser as the base of all transforms.
+