pub_wirelesscontroller

Implementation Reference

• server.py:48-57 (handler)

  MCP tool handler for 'pub_wirelesscontroller'. Converts input velocities to normalized stick values (-1 to 1), publishes the WirelessController ROS2 message, and stops after.

  @mcp.tool()
  def pub_wirelesscontroller(linear_x: float, linear_y: float, yaw: float, pitch: float, keys: int, duration: float = 0):
      lx = convert_velocity_to_wirelesscontroller(linear_y)
      ly = convert_velocity_to_wirelesscontroller(linear_x)
      rx = convert_velocity_to_wirelesscontroller(-yaw)
      ry = convert_velocity_to_wirelesscontroller(pitch)
      
      result, msg = wirelesscontroller.publish(lx, ly, rx, ry, keys, duration)
      wirelesscontroller.stop()
      return result

• server.py:40-46 (helper)

  Helper function to clamp velocity to [-3.7, 3.7] and normalize to [-1.0, 1.0] for controller sticks.

  def convert_velocity_to_wirelesscontroller(velocity: float):
      if velocity > 3.7:
          velocity = 3.7
      elif velocity < -3.7:
          velocity = -3.7
      # -3.7 ~ 3.7 to -1.0 ~ 1.0
      return velocity / 3.7

• msgs/wirelesscontroller.py:5-15 (schema)

  Class documentation defining the structure and semantics of the WirelessController ROS2 message fields used by the tool.

  class WirelessController:
      """
      Publishes WirelessController messages using ros2 topic pub via subprocess.
      
      Message fields:
        - float32 lx : left stick x axis (-1 ~ 1) -> robot move left and right
        - float32 ly : left stick y axis (-1 ~ 1) -> robot move forward and backward
        - float32 rx : right stick x axis (-1 ~ 1) -> robot rotate left and right
        - float32 ry : right stick y axis (-1 ~ 1) -> robot rotate up and down
        - uint16 keys : button state
      """

• msgs/wirelesscontroller.py:29-40 (helper)

  Core publishing logic: constructs shell command for 'ros2 topic pub' subprocess to send the message with optional rate and duration.

  def publish(self, lx: float, ly: float, rx: float, ry: float, keys: int, duration: float = 0) -> tuple[bool, Any]:
      if self.rate > 0 and duration > 0:
          t = int(self.rate * duration)
          rate_opt = f"-r {self.rate} --times {t}"
      else:
          rate_opt = "-1"
      command = (
          f"source {self.setup_sh_path} && "
          f"ros2 topic pub {self.topic} {self.msg_type} "
          f"'{{lx: {lx}, ly: {ly}, rx: {rx}, ry: {ry}, keys: {keys}}}' {rate_opt}"
      )
      return self.execute(command)