Keyboard joy by kluge7 · Pull Request #652 · vortexntnu/vortex-auv

kluge7 · 2026-01-04T12:24:27Z

This PR introduces keyboard_joy, a python package that publishes sensor_msgs/Joy messages based on keyboard input.

TODO: the current implementation uses pynput and only works on xorg (not Wayland).

Copilot

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 <175728472+Copilot@users.noreply.github.com>

codecov · 2026-01-04T14:44:22Z

Codecov Report

❌ Patch coverage is 65.90909% with 90 lines in your changes missing coverage. Please review.
✅ Project coverage is 34.64%. Comparing base (7482370) to head (d5344fb).
⚠️ Report is 72 commits behind head on main.

Files with missing lines	Patch %	Lines
...ion/keyboard_joy/keyboard_joy/keyboard_joy_node.py	0.00%	66 Missing ⚠️
...ion/keyboard_joy/keyboard_joy/keyboard_joy_core.py	80.61%	16 Missing and 3 partials ⚠️
mission/keyboard_joy/setup.py	0.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #652      +/-   ##
==========================================
+ Coverage   31.37%   34.64%   +3.26%     
==========================================
  Files          39       43       +4     
  Lines        2559     2823     +264     
  Branches      713      749      +36     
==========================================
+ Hits          803      978     +175     
- Misses       1577     1663      +86     
- Partials      179      182       +3

Flag	Coverage Δ
unittests	`34.64% <65.90%> (+3.26%)`	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ission/keyboard_joy/test/test_keyboard_joy_core.py	`100.00% <100.00%> (ø)`
mission/keyboard_joy/setup.py	`0.00% <0.00%> (ø)`
...ion/keyboard_joy/keyboard_joy/keyboard_joy_core.py	`80.61% <80.61%> (ø)`
...ion/keyboard_joy/keyboard_joy/keyboard_joy_node.py	`0.00% <0.00%> (ø)`

... and 1 file with indirect coverage changes

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Q3rkses · 2026-01-05T10:30:47Z

bro why bootleg chatgpt talking

Q3rkses

you are looking good cooking

Q3rkses · 2026-01-06T12:01:39Z

+start_message = r"""
+ ██ ▄█▀▓█████▓██   ██▓ ▄▄▄▄    ▒█████   ▄▄▄       ██▀███  ▓█████▄  ▄▄▄██▀▀▀▒█████ ▓██   ██▓
+ ██▄█▒ ▓█   ▀ ▒██  ██▒▓█████▄ ▒██▒  ██▒▒████▄    ▓██ ▒ ██▒▒██▀ ██▌   ▒██  ▒██▒  ██▒▒██  ██▒
+▓███▄░ ▒███    ▒██ ██░▒██▒ ▄██▒██░  ██▒▒██  ▀█▄  ▓██ ░▄█ ▒░██   █▌   ░██  ▒██░  ██▒ ▒██ ██░
+▓██ █▄ ▒▓█  ▄  ░ ▐██▓░▒██░█▀  ▒██   ██░░██▄▄▄▄██ ▒██▀▀█▄  ░▓█▄   ▌▓██▄██▓ ▒██   ██░ ░ ▐██▓░
+▒██▒ █▄░▒████▒ ░ ██▒▓░░▓█  ▀█▓░ ████▓▒░ ▓█   ▓██▒░██▓ ▒██▒░▒████▓  ▓███▒  ░ ████▓▒░ ░ ██▒▓░
+▒ ▒▒ ▓▒░░ ▒░ ░  ██▒▒▒ ░▒▓███▀▒░ ▒░▒░▒░  ▒▒   ▓▒█░░ ▒▓ ░▒▓░ ▒▒▓  ▒  ▒▓▒▒░  ░ ▒░▒░▒░   ██▒▒▒
+░ ░▒ ▒░ ░ ░  ░▓██ ░▒░ ▒░▒   ░   ░ ▒ ▒░   ▒   ▒▒ ░  ░▒ ░ ▒░ ░ ▒  ▒  ▒ ░▒░    ░ ▒ ▒░ ▓██ ░▒░
+░ ░░ ░    ░   ▒ ▒ ░░   ░    ░ ░ ░ ░ ▒    ░   ▒     ░░   ░  ░ ░  ░  ░ ░ ░  ░ ░ ░ ▒  ▒ ▒ ░░
+░  ░      ░  ░░ ░      ░          ░ ░        ░  ░   ░        ░     ░   ░      ░ ░  ░ ░
+              ░ ░           ░                              ░                       ░ ░
+"""


Andeshog

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

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

…dd unit tests

Copilot

Pull request overview

Copilot reviewed 10 out of 14 changed files in this pull request and generated 12 comments.

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Copilot · 2026-01-29T12:11:03Z

+                delta = (
+                    self.axis_increment_step
+                    if target > 0
+                    else -self.axis_increment_step
+                )
+                next_val = current + delta
+
+                if (delta > 0 and next_val > target) or (
+                    delta < 0 and next_val < target
+                ):
+                    next_val = target


Logic assumes target value is never zero, but this is not validated. The update_active_axes method calculates delta based on whether target > 0 (lines 143-147), which doesn't handle the case where target == 0. If a user creates an AxisBinding with val=0.0, the axis would increment toward negative infinity instead of staying at zero.

Consider adding validation in the AxisBinding or init to ensure axis values are non-zero, or fix the delta calculation to handle zero targets correctly.

Suggested change

delta = (

self.axis_increment_step

if target > 0

else -self.axis_increment_step

)

next_val = current + delta

if (delta > 0 and next_val > target) or (

delta < 0 and next_val < target

):

next_val = target

diff = target - current

if diff == 0.0:

continue

step = self.axis_increment_step

if abs(diff) <= step:

next_val = target

elif diff > 0:

next_val = current + step

else:

next_val = current - step

Copilot · 2026-01-29T12:11:04Z

+        self.listener.start()
+
+        self.create_timer(self.core.publish_period, self.publish_joy)
+        self.create_timer(self.core.axis_update_period, self.update_active_axes)
+
+        self.get_logger().info(start_message)
+


Potential resource leak if node initialization fails after starting listener. The keyboard listener is started on line 50, but if any subsequent initialization steps fail (e.g., create_timer on lines 52-53), the listener will not be stopped. The listener thread will continue running even though the node failed to initialize.

Consider wrapping the initialization in a try-except block that ensures the listener is stopped if initialization fails after it's started, or defer starting the listener until after all other initialization is complete.

Suggested change

self.listener.start()

self.create_timer(self.core.publish_period, self.publish_joy)

self.create_timer(self.core.axis_update_period, self.update_active_axes)

self.get_logger().info(start_message)

self.create_timer(self.core.publish_period, self.publish_joy)

self.create_timer(self.core.axis_update_period, self.update_active_axes)

self.get_logger().info(start_message)

self.listener.start()

Copilot · 2026-01-29T12:11:04Z

+                mode=AxisMode(str(mode)),
+            )
+
+        button_mappings = keymap.get("buttons", {}) or {}


Button mappings loaded from YAML are not type-validated. The button_mappings dictionary values should be integers, but there's no conversion or validation when loading from YAML (line 77). This could lead to runtime errors later when the values are used with int() conversions in the press and release methods.

Consider adding validation or explicit type conversion similar to how axis mappings are handled.

Suggested change

button_mappings = keymap.get("buttons", {}) or {}

raw_buttons = keymap.get("buttons", {}) or {}

button_mappings: dict[str, int] = {}

for key, button in raw_buttons.items():

try:

button_mappings[key] = int(button)

except (TypeError, ValueError) as exc:

raise ValueError(

f"Invalid button mapping for key {key!r}: {button!r}"

) from exc

…nt a resolvable rosdep key

…e.py

github-actions · 2026-02-18T21:28:27Z

🎉 This PR is included in version 2.6.0 🎉

The release is available on GitHub release

Your semantic-release bot 📦🚀

kluge7 added 3 commits November 4, 2025 02:35

feat(joy): add keyboard_joy node for keyboard-based teleoperation

fcfa385

chore(keyboard_joy_node): removed comments

eec9cb3

refactor: migrate keyboard_joy to ament_python and add unit tests

2d999ba

kluge7 requested review from Andeshog and Copilot January 4, 2026 12:24

kluge7 self-assigned this Jan 4, 2026

Copilot started reviewing on behalf of kluge7 January 4, 2026 12:24 View session

chore(keyboard_joy): apply pre-commit changes

9f73fc5

Copilot AI reviewed Jan 4, 2026

View reviewed changes

kluge7 and others added 8 commits January 4, 2026 13:30

fix(keyboard_joy): use python3-pytest rosdep key instead of pytest

631feb9

Merge branch 'main' into feat/keyboard-joy

ec5f5ee

refactor(keyboard_joy): remove ament_python from buildtool_depend

8c0770c

Update mission/keyboard_joy/README.md

f42e1d7

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Update mission/keyboard_joy/config/key_mappings.yaml

93807e8

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

docs(keyboard_joy): update naming in README to be consistent with code

c1f8b43

test

5d8c813

test: remove keyboard_joy tests since they are unsupported in CI

8893e9c

kluge7 force-pushed the feat/keyboard-joy branch from 0588283 to 8893e9c Compare January 4, 2026 14:30

kluge7 requested a review from Q3rkses January 5, 2026 13:58

Q3rkses approved these changes Jan 6, 2026

View reviewed changes

Andeshog reviewed Jan 6, 2026

View reviewed changes

kluge7 added 3 commits January 17, 2026 20:13

refactor(keyboard_joy): rename timing params and improve documentation

f38ab63

Merge branch 'main' into feat/keyboard-joy

5a4b55b

refactor(keyboard_joy): replace axis tuples with dataclass and Enum

6599bda

Andeshog approved these changes Jan 18, 2026

View reviewed changes

refactor(keyboard_joy): split into separate node and logic file and a…

43e9c10

…dd unit tests

kluge7 requested a review from Copilot January 29, 2026 12:01

Copilot started reviewing on behalf of kluge7 January 29, 2026 12:01 View session

kluge7 added 2 commits January 29, 2026 13:02

ci: undo temporary branch used for indistrual ci back to main

e454384

Merge branch 'main' into feat/keyboard-joy

efbde0e

Copilot AI reviewed Jan 29, 2026

View reviewed changes

kluge7 added 4 commits January 29, 2026 13:39

chore(keyboard_joy): remove ament_pytest from package.xml since it is…

b707ca9

…nt a resolvable rosdep key

refactor(keyboard_joy): remove unnecessary lock from keyboard_joy_nod…

36ca3c0

…e.py

chore: remove COLCON_IGNORE files which were used for testing

71488e6

chore: remove unnecessary file comments from keyboard_joy

d5344fb

kluge7 merged commit 61d07b4 into main Jan 29, 2026
13 checks passed

kluge7 deleted the feat/keyboard-joy branch January 29, 2026 19:00

github-actions Bot added the released label Feb 18, 2026

-        button_mappings = keymap.get("buttons", {}) or {}
+        raw_buttons = keymap.get("buttons", {}) or {}
+        button_mappings: dict[str, int] = {}
+        for key, button in raw_buttons.items():
+            try:
+                button_mappings[key] = int(button)
+            except (TypeError, ValueError) as exc:
+                raise ValueError(
+                    f"Invalid button mapping for key {key!r}: {button!r}"
+                ) from exc

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