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

@@ -20,4 +20,5 @@ 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.
+ 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.
+