Keyboard joy #652
Keyboard joy #652
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Pull request overview
This PR introduces keyboard_joy, a new ROS 2 Python package that enables keyboard-based control by publishing sensor_msgs/Joy messages. The package serves as a joystick replacement for development and testing purposes, with configurable key mappings and support for both hold and sticky axis modes. Note that the current implementation is limited to Xorg environments.
Key changes:
- New keyboard_joy package with configurable YAML-based key mappings
- Support for both axis control (hold/sticky modes) and button inputs via keyboard
- Comprehensive test suite using pytest with mocked keyboard listener
Reviewed changes
Copilot reviewed 8 out of 10 changed files in this pull request and generated 17 comments.
Show a summary per file
| File | Description |
|---|---|
| mission/keyboard_joy/keyboard_joy/keyboard_joy_node.py | Main node implementation with keyboard event handling, Joy message publishing, and axis/button state management |
| mission/keyboard_joy/config/key_mappings.yaml | Default key mapping configuration defining axis and button bindings |
| mission/keyboard_joy/launch/keyboard_joy_node.launch.py | Launch file for starting the keyboard_joy node with configurable parameters |
| mission/keyboard_joy/test/test_keyboard_joy_node.py | Unit tests covering key mapping, axis modes, and button state transitions |
| mission/keyboard_joy/setup.py | Python package setup configuration with dependencies and entry points |
| mission/keyboard_joy/setup.cfg | Installation script configuration for ROS 2 |
| mission/keyboard_joy/package.xml | ROS 2 package manifest with dependencies |
| mission/keyboard_joy/README.md | Package documentation describing functionality and known limitations |
| mission/keyboard_joy/keyboard_joy/init.py | Empty package initialization file |
| mission/keyboard_joy/resource/keyboard_joy | Empty resource marker file for ament |
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Co-authored-by: Copilot <[email protected]>
Co-authored-by: Copilot <[email protected]>
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #652 +/- ##
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+ Coverage 35.58% 36.53% +0.95%
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Files 38 36 -2
Lines 2254 2195 -59
Branches 686 706 +20
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Hits 802 802
+ Misses 1273 1210 -63
- Partials 179 183 +4
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bro why bootleg chatgpt talking |
Q3rkses
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Q3rkses
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you are looking good cooking
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Andeshog
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Andeshog
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Consider separating the ros layer (publishing) and the logic layer. This would also make the code easier to test, as you would not need to go through ros. Personally I find nested dataclasses better than dictionaries here (easier to read, and safer to use). It would also pretty much mirror the yaml file. Also consider Enum class for "mode" instead of string
Andeshog
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Fine as is, but if you managed to separate the logic from ros, the code would be much easier to test (ref. when you removed the previously written tests). The only "ros stuff" is periodically publishing a joy message, so not a compelling reason to pack all the logic into a ros node
This PR introduces
keyboard_joy, a python package that publishessensor_msgs/Joymessages based on keyboard input.TODO: the current implementation uses
pynputand only works on xorg (not Wayland).