CLI robot controller

Dockerfile

@@ -65,6 +65,7 @@ COPY --from=builder $WORKSPACE/launch $WORKSPACE/launch
 COPY --from=builder $WORKSPACE/config $WORKSPACE/config
 COPY --from=builder $WORKSPACE/build $WORKSPACE/build
 COPY --from=builder $WORKSPACE/description $WORKSPACE/description
+COPY --from=builder $WORKSPACE/utils/control $WORKSPACE/utils/control
 COPY --from=builder /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
 
 # Copy XML plugins definition

Makefile

@@ -42,3 +42,7 @@ rsp:
 
 remote-devices:
 	bash .devcontainer/scripts/remote_devices.sh $(REMOTE_HOST) $(REMOTE_USER)
+
+control:
+	@echo "Starting OpenMower Terminal Controller..."
+	@cd utils/control && python3 cli_controller.py

utils/control/README.md

@@ -0,0 +1,56 @@
+# OpenMower Terminal Controller
+
+::: warning
+This is a work in progress. Written by LLM.
+:::
+
+A terminal-based UI controller for OpenMower. This utility provides a simple terminal interface for controlling the robot and viewing its status.
+
+## Features
+
+- Control the robot using arrow keys
+- Monitor battery status with colored indicators
+- View position and orientation information
+- Check charging status
+
+## Prerequisites
+
+- ROS2 environment setup
+- Python 3.6+
+- Python packages: `curses`, `rclpy`
+
+## Usage
+
+The controller can be launched using the Makefile rule:
+
+```bash
+make control
+```
+
+Or run directly:
+
+```bash
+cd utils/control
+python3 cli_controller.py
+```
+
+## Controls
+
+- **↑** (Up Arrow): Increase forward speed
+- **↓** (Down Arrow): Increase backward speed
+- **←** (Left Arrow): Turn left
+- **→** (Right Arrow): Turn right
+- **Space**: Stop all movement
+- **Q**: Quit the application
+
+## ROS2 Topics
+
+This controller interfaces with the following ROS2 topics:
+
+- **Subscribes to**:
+  - `/odometry/filtered/map`: For position and orientation information
+  - `/power`: For battery state information
+  - `/power/charger_present`: For charging status
+
+- **Publishes to**:
+  - `/cmd_vel_joy`: TwistStamped messages for robot control