{"id":13799484,"url":"https://github.com/ros2/teleop_twist_joy","last_synced_at":"2025-05-13T08:31:23.063Z","repository":{"id":21666469,"uuid":"93521672","full_name":"ros2/teleop_twist_joy","owner":"ros2","description":"Simple joystick teleop for twist robots","archived":false,"fork":true,"pushed_at":"2024-09-09T08:23:30.000Z","size":119,"stargazers_count":54,"open_issues_count":1,"forks_count":73,"subscribers_count":12,"default_branch":"rolling","last_synced_at":"2024-09-09T10:03:07.661Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":"ros-teleop/teleop_twist_joy","license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ros2.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":"LICENSE.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-06-06T13:29:11.000Z","updated_at":"2024-09-06T18:21:20.000Z","dependencies_parsed_at":"2023-01-16T22:00:32.171Z","dependency_job_id":null,"html_url":"https://github.com/ros2/teleop_twist_joy","commit_stats":null,"previous_names":[],"tags_count":17,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Fteleop_twist_joy","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Fteleop_twist_joy/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Fteleop_twist_joy/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Fteleop_twist_joy/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ros2","download_url":"https://codeload.github.com/ros2/teleop_twist_joy/tar.gz/refs/heads/rolling","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":225190592,"owners_count":17435445,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-04T00:01:03.237Z","updated_at":"2024-11-18T14:30:35.011Z","avatar_url":"https://github.com/ros2.png","language":"C++","funding_links":[],"categories":["Packages"],"sub_categories":["Application layer"],"readme":"ros2/teleop_twist_joy\n=====================\n\n# Overview\nThe purpose of this package is to provide a generic facility for tele-operating Twist-based ROS 2 robots with a standard joystick.\nIt converts joy messages to velocity commands.\n\nThis node provides no rate limiting or autorepeat functionality.\nIt is expected that you take advantage of the features built into [joy](https://index.ros.org/p/joy/github-ros-drivers-joystick_drivers) for this.\n\n## Executables\nThe package comes with the `teleop_node` that republishes `sensor_msgs/msg/Joy` messages as scaled `geometry_msgs/msg/Twist` messages.\nThe message type can be changed to `geometry_msgs/msg/TwistStamped` by the `publish_stamped_twist` parameter.\n\n## Subscribed Topics\n- `joy (sensor_msgs/msg/Joy)`\n  - Joystick messages to be translated to velocity commands.\n\n## Published Topics\n- `cmd_vel (geometry_msgs/msg/Twist or geometry_msgs/msg/TwistStamped)`\n  - Command velocity messages arising from Joystick commands.\n\n## Parameters\n- `require_enable_button (bool, default: true)`\n  - Whether to require the enable button for enabling movement.\n\n- `enable_button (int, default: 0)`\n  - Joystick button to enable regular-speed movement.\n\n- `enable_turbo_button (int, default: -1)`\n  - Joystick button to enable high-speed movement (disabled when -1).\n\n- `axis_linear.\u003caxis\u003e`\n  - Joystick axis to use for linear movement control.\n  - `axis_linear.x (int, default: 5)`\n  - `axis_linear.y (int, default: -1)`\n  - `axis_linear.z (int, default: -1)`\n\n- `scale_linear.\u003caxis\u003e`\n  - Scale to apply to joystick linear axis for regular-speed movement.\n  - `scale_linear.x (double, default: 0.5)`\n  - `scale_linear.y (double, default: 0.0)`\n  - `scale_linear.z (double, default: 0.0)`\n\n- `scale_linear_turbo.\u003caxis\u003e`\n  - Scale to apply to joystick linear axis for high-speed movement.\n  - `scale_linear_turbo.x (double, default: 1.0)`\n  - `scale_linear_turbo.y (double, default: 0.0)`\n  - `scale_linear_turbo.z (double, default: 0.0)`\n\n- `axis_angular.\u003caxis\u003e`\n  - Joystick axis to use for angular movement control.\n  - `axis_angular.yaw (int, default: 2)`\n  - `axis_angular.pitch (int, default: -1)`\n  - `axis_angular.roll (int, default: -1)`\n\n- `scale_angular.\u003caxis\u003e`\n  - Scale to apply to joystick angular axis.\n  - `scale_angular.yaw (double, default: 0.5)`\n  - `scale_angular.pitch (double, default: 0.0)`\n  - `scale_angular.roll (double, default: 0.0)`\n\n- `scale_angular_turbo.\u003caxis\u003e`\n  - Scale to apply to joystick angular axis for high-speed movement.\n  - `scale_angular_turbo.yaw (double, default: 1.0)`\n  - `scale_angular_turbo.pitch (double, default: 0.0)`\n  - `scale_angular_turbo.roll (double, default: 0.0)`\n\n- `inverted_reverse (bool, default: false)`\n  - Whether to invert turning left-right while reversing (useful for differential wheeled robots).\n\n- `publish_stamped_twist (bool, default: false)`\n  - Whether to publish `geometry_msgs/msg/TwistStamped` for command velocity messages.\n\n- `frame (string, default: 'teleop_twist_joy')`\n  - Frame name used for the header of TwistStamped messages.\n\n\n# Usage\n\n## Install\nFor most users building from source will not be required, execute `apt-get install ros-\u003crosdistro\u003e-teleop-twist-joy` to install.\n\n## Run\nA launch file has been provided which has three arguments which can be changed in the terminal or via your own launch file.\nTo configure the node to match your joystick a config file can be used.\nThere are several common ones provided in this package (atk3, ps3-holonomic, ps3, xbox, xd3), located here: https://github.com/ros2/teleop_twist_joy/tree/rolling/config.\n\nPS3 is default, to run for another config (e.g. xbox) use this:\n````\nros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox'\n````\n\n__Note:__ this launch file also launches the `joy` node so do not run it separately.\n\n\n## Arguments\n- `joy_config (string, default: 'ps3')`\n  - Config file to use\n- `joy_dev (string, default: '0')`\n  - Joystick device to use\n- `config_filepath (string, default: '/opt/ros/\u003crosdistro\u003e/share/teleop_twist_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')`\n  - Path to config files\n- `publish_stamped_twist (bool, default: false)`\n  - Whether to publish `geometry_msgs/msg/TwistStamped` for command velocity messages.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros2%2Fteleop_twist_joy","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fros2%2Fteleop_twist_joy","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros2%2Fteleop_twist_joy/lists"}