feat: add Doom-style teleop control module (#1401)

[christiefhyang]

This PR introduces a Doom-style teleoperation module that allows control of robots using a keyboard and mouse, modeled after first-person shooter (FPS) controls. The DoomTeleop module provides continuous velocity control via the /cmd_vel interface and optional pose control via the /goal_pose and /cancel_goal interfaces. It is robot-agnostic and can be integrated into any robot system that uses these standard interfaces.

Details：

• Keyboard Control (Velocity):
  • The module maps keyboard inputs to robot movements using Twist messages:
  • W/S: Move forward/backward.
  • A/D: Turn left/right.
  • Space: Emergency stop (sets cmd_vel to zero).
  • It publishes velocity commands on the /cmd_vel topic, making it compatible with any robot that supports this interface.

• Mouse Control (Yaw and Pose):
  • Mouse motion controls yaw (rotation around the vertical axis) based on horizontal movement.
  • Right-click sends a small forward goal pose (PoseStamped).
  • Middle-click rotates the robot in place using a discrete pose goal, if goal topics (goal_pose, cancel_goal) are set.

• Discrete Pose Control:
  • The module also allows pose control using the PoseStamped message:
  • goal_pose: Sends discrete goal poses for navigation.
  • cancel_goal: Cancels ongoing goals with a Bool message (triggered by the Space key).

• Robot-Agnostic Design:
  • The module is robot-agnostic and works with any robot that supports the ROS navigation interfaces like /cmd_vel, /goal_pose, and /cancel_goal.
  • It simply publishes Twist, PoseStamped, and Bool messages to existing transport topics and doesn’t introduce new control interfaces.

• Threading for Asynchronous Input Handling:
  • The teleoperation input handling (keyboard and mouse events) runs in a separate thread using threading.Event and pygame for event management, allowing non-blocking, responsive input during operation.

Breaking Changes

None. This PR introduces a new module that integrates with existing interfaces without modifying or breaking any existing control paths.

How to Test

 #In a supported Linux/WSL environment, run:
   uv sync --extra dev --extra cpu --extra sim
   uv run dimos --simulation run doom-teleop

• Test the Keyboard Teleoperation:
• W/S: Move forward/backward.
• A/D: Turn left/right.
• Space: Emergency stop (sets cmd_vel to zero).
• Test the Mouse Control:
• Mouse motion: Rotate the robot based on horizontal mouse movement.
• Right-click: Send a small forward goal pose (goal_pose).
• Middle-click: Rotate in place using a discrete goal if goal topics are available.
• Test Pose Control:
• Space: Cancel the current goal pose.
• Ensure the robot responds to pose commands and navigates correctly to the set goals.

Contributor License Agreement

• I have read and approved the CLA.