Navigation Shared Autonomy Web Interface - #55
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Pull request overview
This PR introduces a shared-autonomy manual control web interface by separating teleoperation into two dedicated pages (arm vs. base) and wiring new routing and executive signals to support mid-navigation base takeover.
Changes:
- Added a new
/navigation_teleopjoystick-style page that publishes/cmd_veland signals takeover/done via shared-autonomy topics. - Replaced the single global “Take Over” button with two global manual-control buttons (“Robot Base Control” / “Robot Arm Control”), with base control gated by an executive “base_control enabled/disabled” signal during navigation.
- Updated routing to rename
/teleop→/manipulation_teleop, plus UI/layout tweaks in the manipulation teleop and a rotation-spec sign change in teleop recovery.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| webapp/vue-ros-demo/src/views/task_selection.vue | Removes the menu’s manual-control button in favor of the new global controls. |
| webapp/vue-ros-demo/src/views/NavigationTeleop.vue | Adds a new base teleop joystick page with ROS publishers/subscriber integration. |
| webapp/vue-ros-demo/src/views/ManipulationTeleop.vue | Updates joint button iconography and adjusts layout sizing/spacing. |
| webapp/vue-ros-demo/src/router/routeMap.js | Routes teleop.jump to /manipulation_teleop and adds navigation_teleop.jump. |
| webapp/vue-ros-demo/src/router/index.js | Replaces /teleop route with /manipulation_teleop and adds /navigation_teleop. |
| webapp/vue-ros-demo/src/App.vue | Implements global base/arm control buttons and listens for base-control enablement. |
| src/feeding_deployment/actions/teleop_recovery.py | Flips tilt up/down sign mapping in ROTATION_SPEC. |
| src/feeding_deployment/actions/navigate.py | Enables/disables base-control availability around navigation action execution. |
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| lin: 0, | ||
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| dragging: false, | ||
| connected: true, |
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| teardown () { | ||
| this.center() | ||
| if (this.cmdVelPub) this.sendVelocity() // final zero | ||
| if (this.sendTimer) { clearInterval(this.sendTimer); this.sendTimer = null } | ||
| window.removeEventListener('blur', this.center) | ||
| document.removeEventListener('visibilitychange', this.onVisibility) | ||
| if (this.listener) { this.listener.unsubscribe(); this.listener = null } | ||
| } |
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