Updated README (#101)

All the links are updated in the README file to point to the correct API documentation and repository for Foxy. 
Additionally, the CLI argument formatting was fixed to adapt with the ROS2 syntax where arguments are passed using the format "joy_config:=xbox360" instead of using square brackets "[joy_config:=xbox360]"

README.md

@@ -1,6 +1,6 @@
 # create_robot
 
-[ROS](http://ros.org) driver for iRobot [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx).
+[ROS 2](https://docs.ros.org/en/foxy/) driver for iRobot [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx).
 This package wraps the C++ library [libcreate][libcreate], which uses iRobot's [Open Interface Specification][oi_spec].
 
 <!--[](* Documentation: TODO)-->
@@ -63,7 +63,7 @@ _* Not verified. Anyone who is able to verify that this driver works or not is e
 #### Prerequisites
 
 * Internet connection
-* [ROS](https://index.ros.org/doc/ros2/Installation) _Foxy_
+* [ROS 2](https://index.ros.org/doc/ros2/Installation) _Foxy_
 * Ubuntu packages: `python3-rosdep`, `python3-colcon-common-extensions`
 
 ``` bash
@@ -166,48 +166,48 @@ $ ros2 launch create_bringup create_2.launch config:=/abs/path/to/config.yaml de
 
  Topic       | Description  | Type
 -------------|--------------|------
- `battery/capacity` | The estimated charge capacity of the robot's battery (Ah) | [std_msgs/Float32][float32]
- `battery/charge` | The current charge of the robot's battery (Ah) | [std_msgs/Float32][float32]
- `battery/charge_ratio` | Charge / capacity | [std_msgs/Float32][float32]
- `battery/charging_state` | The chargins state of the battery | [create_msgs/ChargingState][chargingstate_msg]
- `battery/current` | Current flowing through the robot's battery (A). Positive current implies charging | [std_msgs/Float32][float32]
- `battery/temperature` | The temperature of the robot's battery (degrees Celsius) | [std_msgs/Int16][int16]
- `battery/voltage` | Voltage of the robot's battery (V) | [std_msgs/Float32][float32]
- `bumper` | Bumper state message (including light sensors on bumpers) | [create_msgs/Bumper][bumper_msg]
- `cliff` | Cliff state message | [create_msgs/Cliff][cliff_msg]
- `clean_button` | 'clean' button is pressed ('play' button for Create 1) | [std_msgs/Empty][empty]
- `day_button` |  'day' button is pressed | [std_msgs/Empty][empty]
- `hour_button` | 'hour' button is pressed | [std_msgs/Empty][empty]
- `minute_button` | 'minute' button is pressed | [std_msgs/Empty][empty]
- `dock_button` | 'dock' button is pressed ('advance' button for Create 1) | [std_msgs/Empty][empty]
- `spot_button` | 'spot' button is pressed | [std_msgs/Empty][empty]
- `ir_omni` | The IR character currently being read by the omnidirectional receiver. Value 0 means no character is being received | [std_msgs/UInt16][uint16]
- `joint_states` | The states (position, velocity) of the drive wheel joints | [sensor_msgs/JointState][jointstate_msg]
- `mode` | The current mode of the robot (See [OI Spec][oi_spec] for details)| [create_msgs/Mode][mode_msg]
- `odom` |  Robot odometry according to wheel encoders | [nav_msgs/Odometry][odometry]
- `wheeldrop` | At least one of the drive wheels has dropped | [std_msgs/Empty][empty]
- `/tf` | The transform from the `odom` frame to `base_footprint`. Only if the parameter `publish_tf` is `true` | [tf2_msgs/TFMessage](http://docs.ros.org/jade/api/tf2_msgs/html/msg/TFMessage.html)
+ `battery/capacity` | The estimated charge capacity of the robot's battery (Ah) | [std_msgs/msg/Float32][float32]
+ `battery/charge` | The current charge of the robot's battery (Ah) | [std_msgs/msg/Float32][float32]
+ `battery/charge_ratio` | Charge / capacity | [std_msgs/msg/Float32][float32]
+ `battery/charging_state` | The chargins state of the battery | [create_msgs/msg/ChargingState][chargingstate_msg]
+ `battery/current` | Current flowing through the robot's battery (A). Positive current implies charging | [std_msgs/msg/Float32][float32]
+ `battery/temperature` | The temperature of the robot's battery (degrees Celsius) | [std_msgs/msg/Int16][int16]
+ `battery/voltage` | Voltage of the robot's battery (V) | [std_msgs/msg/Float32][float32]
+ `bumper` | Bumper state message (including light sensors on bumpers) | [create_msgs/msg/Bumper][bumper_msg]
+ `cliff` | Cliff state message | [create_msgs/msg/Cliff][cliff_msg]
+ `clean_button` | 'clean' button is pressed ('play' button for Create 1) | [std_msgs/msg/Empty][empty]
+ `day_button` |  'day' button is pressed | [std_msgs/msg/Empty][empty]
+ `hour_button` | 'hour' button is pressed | [std_msgs/msg/Empty][empty]
+ `minute_button` | 'minute' button is pressed | [std_msgs/msg/Empty][empty]
+ `dock_button` | 'dock' button is pressed ('advance' button for Create 1) | [std_msgs/msg/Empty][empty]
+ `spot_button` | 'spot' button is pressed | [std_msgs/msg/Empty][empty]
+ `ir_omni` | The IR character currently being read by the omnidirectional receiver. Value 0 means no character is being received | [std_msgs/msg/UInt16][uint16]
+ `joint_states` | The states (position, velocity) of the drive wheel joints | [sensor_msgs/msg/JointState][jointstate_msg]
+ `mode` | The current mode of the robot (See [OI Spec][oi_spec] for details)| [create_msgs/msg/Mode][mode_msg]
+ `odom` |  Robot odometry according to wheel encoders | [nav_msgs/msg/Odometry][odometry]
+ `wheeldrop` | At least one of the drive wheels has dropped | [std_msgs/msg/Empty][empty]
+ `/tf` | The transform from the `odom` frame to `base_footprint`. Only if the parameter `publish_tf` is `true` | [tf2_msgs/msg/TFMessage](https://docs.ros2.org/foxy/api/tf2_msgs/msg/TFMessage.html)
 
 
 ### Subscribers
 
 Topic       | Description   | Type
 ------------|---------------|------
-`cmd_vel` | Drives the robot's wheels according to a forward and angular velocity | [geometry_msgs/Twist][twist]
-`debris_led` | Enable / disable the blue 'debris' LED | [std_msgs/Bool][bool]
-`spot_led`   | Enable / disable the 'spot' LED | [std_msgs/Bool][bool]
-`dock_led`   | Enable / disable the 'dock' LED | [std_msgs/Bool][bool]
-`check_led`  | Enable / disable the 'check robot` LED | [std_msgs/Bool][bool]
-`power_led`  | Set the 'power' LED color and intensity. Accepts 1 or 2 bytes, the first represents the color between green (0) and red (255) and the second (optional) represents the intensity with brightest setting as default (255) | [std_msgs/UInt8MultiArray][uint8multiarray]
-`set_ascii` | Sets the 4 digit LEDs. Accepts 1 to 4 bytes, each representing an ASCII character to be displayed from left to right | [std_msgs/UInt8MultiArray][uint8multiarray]
-`dock` | Activates the demo docking behaviour. Robot enters _Passive_ mode meaning the user loses control (See [OI Spec][oi_spec]) | [std_msgs/Empty][empty]
-`undock` | Switches robot to _Full_ mode giving control back to the user | [std_msgs/Empty][empty]
-`define_song` | Define a song with up to 16 notes. Each note is described by a MIDI note number and a float32 duration in seconds. The longest duration is 255/64 seconds. You can define up to 4 songs (See [OI Spec][oi_spec]) | [create_msgs/DefineSong][definesong_msg]
-`play_song` | Play a predefined song | [create_msgs/PlaySong][playsong_msg]
+`cmd_vel` | Drives the robot's wheels according to a forward and angular velocity | [geometry_msgs/msg/Twist][twist]
+`debris_led` | Enable / disable the blue 'debris' LED | [std_msgs/msg/Bool][bool]
+`spot_led`   | Enable / disable the 'spot' LED | [std_msgs/msg/Bool][bool]
+`dock_led`   | Enable / disable the 'dock' LED | [std_msgs/msg/Bool][bool]
+`check_led`  | Enable / disable the 'check robot` LED | [std_msgs/msg/Bool][bool]
+`power_led`  | Set the 'power' LED color and intensity. Accepts 1 or 2 bytes, the first represents the color between green (0) and red (255) and the second (optional) represents the intensity with brightest setting as default (255) | [std_msgs/msg/UInt8MultiArray][uint8multiarray]
+`set_ascii` | Sets the 4 digit LEDs. Accepts 1 to 4 bytes, each representing an ASCII character to be displayed from left to right | [std_msgs/msg/UInt8MultiArray][uint8multiarray]
+`dock` | Activates the demo docking behaviour. Robot enters _Passive_ mode meaning the user loses control (See [OI Spec][oi_spec]) | [std_msgs/msg/Empty][empty]
+`undock` | Switches robot to _Full_ mode giving control back to the user | [std_msgs/msg/Empty][empty]
+`define_song` | Define a song with up to 16 notes. Each note is described by a MIDI note number and a float32 duration in seconds. The longest duration is 255/64 seconds. You can define up to 4 songs (See [OI Spec][oi_spec]) | [create_msgs/msg/DefineSong][definesong_msg]
+`play_song` | Play a predefined song | [create_msgs/msg/PlaySong][playsong_msg]
 
 ## Commanding your Create
 
-You can move the robot around by sending [geometry_msgs/Twist][twist] messages to the topic `cmd_vel`:
+You can move the robot around by sending [geometry_msgs/msg/Twist][twist] messages to the topic `cmd_vel`:
 
 ```
 linear.x  (+)     Move forward (m/s)
@@ -224,7 +224,7 @@ angular.z (+)     Rotate counter-clockwise (rad/s)
 `create_bringup` comes with a launch file for teleoperating Create with a joystick.
 
 ``` bash
-$ ros2 launch create_bringup joy_teleop.launch [joy_config:=xbox360]
+$ ros2 launch create_bringup joy_teleop.launch joy_config:=xbox360
 ```
 
 There exists configuration files for the [Xbox 360 wired controller](https://www.amazon.ca/Microsoft-Xbox-360-Wired-Controller/dp/B003ZSN600) and the [Logitech F710 controller](http://gaming.logitech.com/en-ca/product/f710-wireless-gamepad). You can adapt these files for your preferred joystick configuration.
@@ -249,19 +249,19 @@ Contributing to the development and maintenance of _create\_autonomy_ is encoura
 
 [libcreate]:  https://github.com/AutonomyLab/libcreate
 [oi_spec]:  https://www.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf
-[odometry]:  http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
-[empty]:  http://docs.ros.org/api/std_msgs/html/msg/Empty.html
-[uint16]:  http://docs.ros.org/api/std_msgs/html/msg/UInt16.html
-[int16]:  http://docs.ros.org/api/std_msgs/html/msg/Int16.html
-[twist]:  http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html
-[bool]:  http://docs.ros.org/api/std_msgs/html/msg/Bool.html
-[uint8multiarray]:  http://docs.ros.org/api/std_msgs/html/msg/UInt8MultiArray.html
-[float32]:  http://docs.ros.org/api/std_msgs/html/msg/Float32.html
-[create_msgs]:  http://github.com/autonomylab/create_robot/tree/melodic
-[bumper_msg]:  https://github.com/autonomylab/create_robot/blob/melodic/create_msgs/msg/Bumper.msg
+[odometry]:  https://docs.ros2.org/foxy/api/nav_msgs/msg/Odometry.html
+[empty]:  https://docs.ros2.org/foxy/api/std_msgs/msg/Empty.html
+[uint16]:  https://docs.ros2.org/foxy/api/std_msgs/msg/UInt16.html
+[int16]:  https://docs.ros2.org/foxy/api/std_msgs/msg/Int16.html
+[twist]:  https://docs.ros2.org/foxy/api/geometry_msgs/msg/Twist.html
+[bool]:  https://docs.ros2.org/foxy/api/std_msgs/msg/Bool.html
+[uint8multiarray]:  https://docs.ros2.org/foxy/api/std_msgs/msg/UInt8MultiArray.html
+[float32]:  https://docs.ros2.org/foxy/api/std_msgs/msg/Float32.html
+[create_msgs]:  http://github.com/autonomylab/create_robot/tree/foxy
+[bumper_msg]:  https://github.com/AutonomyLab/create_robot/blob/foxy/create_msgs/msg/Bumper.msg
 [cliff_msg]:  https://github.com/autonomylab/create_robot/blob/foxy/create_msgs/msg/Cliff.msg
-[mode_msg]:  https://github.com/autonomylab/create_robot/blob/melodic/create_msgs/msg/Mode.msg
-[chargingstate_msg]:  https://github.com/autonomylab/create_robot/blob/melodic/create_msgs/msg/ChargingState.msg
-[jointstate_msg]:  http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html
-[definesong_msg]:  https://github.com/autonomylab/create_robot/blob/melodic/create_msgs/msg/DefineSong.msg
-[playsong_msg]:  https://github.com/autonomylab/create_robot/blob/melodic/create_msgs/msg/PlaySong.msg
+[mode_msg]:  https://github.com/AutonomyLab/create_robot/blob/foxy/create_msgs/msg/Mode.msg
+[chargingstate_msg]:  https://github.com/AutonomyLab/create_robot/blob/foxy/create_msgs/msg/ChargingState.msg
+[jointstate_msg]:  https://docs.ros2.org/foxy/api/sensor_msgs/msg/JointState.html
+[definesong_msg]:  https://github.com/AutonomyLab/create_robot/blob/foxy/create_msgs/msg/DefineSong.msg
+[playsong_msg]:  https://github.com/AutonomyLab/create_robot/blob/foxy/create_msgs/msg/PlaySong.msg

create_bringup/config/dualshock4.yaml

@@ -0,0 +1,45 @@
+# DualShock 4 controller
+# Check Dualshock 4 mapping table for corresponding number for each button
+# Deadman is enable button
+/joy_teleop:
+  ros__parameters:
+    slow:
+      type: topic
+      topic_name: cmd_vel
+      interface_type: geometry_msgs/msg/Twist
+      deadman_buttons: [6] # L2 as Button
+      axis_mappings:
+        angular-z:
+          axis: 0
+          offset: 0
+          scale: 1.2
+        linear-x:
+          axis: 1
+          offset: 0
+          scale: 0.2
+    fast:
+      type: topic
+      topic_name: cmd_vel
+      interface_type: geometry_msgs/msg/Twist
+      deadman_buttons: [7] # R2 as Button
+      axis_mappings:
+        angular-z:
+          axis: 0
+          offset: 0
+          scale: 2.4
+        linear-x:
+          axis: 1
+          offset: 0
+          scale: 0.4
+    dock:
+      type: topic
+      topic_name: dock
+      interface_type: std_msgs/msg/Empty
+      deadman_buttons: [8] # Share Button
+      message_value: []
+    undock:
+      type: topic
+      topic_name: undock
+      interface_type: std_msgs/msg/Empty
+      deadman_buttons: [9] # Option Button
+      message_value: []