https://github.com/astuff/pacmod2_game_control
A demonstration node for controlling a PACMod 2 drive-by-wire system with a standard game controller.
https://github.com/astuff/pacmod2_game_control
Last synced: 12 months ago
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A demonstration node for controlling a PACMod 2 drive-by-wire system with a standard game controller.
- Host: GitHub
- URL: https://github.com/astuff/pacmod2_game_control
- Owner: astuff
- License: mit
- Created: 2021-12-20T21:19:26.000Z (over 4 years ago)
- Default Branch: ros1_master
- Last Pushed: 2023-05-01T18:05:47.000Z (about 3 years ago)
- Last Synced: 2023-12-11T23:00:50.980Z (over 2 years ago)
- Language: C++
- Size: 241 KB
- Stars: 0
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- License: LICENSE
Awesome Lists containing this project
README
## PACMod2 Game Controller ##
[](https://circleci.com/gh/astuff/pacmod2_game_control/tree/master)
This ROS package provides software for controlling a PACMod2 system using a game controller.
The `pacmod2_game_control` ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the [`pacmod2`](https://github.com/astuff/pacmod) ROS driver to control the PACMod.
## Installation
Install pacmod2_game_control using our debian repository:
```sh
sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod2-game-control
```
## Controls
### Supported Controllers
The currently supported controllers are:
- Logitech F310
- [FORT Robotics Safe Remote Control](https://autonomoustuff.com/products/fort-remote-control-system)
- Logitech G29 Steering Wheel and Pedals
- XBOX ONE Wired or Wireless Controller
***NOTE***: The Logitech F310 controller has a switch on the back of the controller for switching between "X" and "D".
Ensure the switch is always set to "X".
In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.
### Logitech F310 Control Scheme
Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.
*Note:* Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.
| Action | Button | Notes |
| - | - | - |
| **Enable/Disable** | **Center region** | |
| Enable | BACK and START | Buttons must be pressed simultaneously to enable by-wire mode |
| Disable | BACK | button must be pressed to disable by-wire mode.|
| **Gear Selection** | **Button Pad (right-hand side)** | |
| Drive | A | |
| Reverse | B | |
| Neutral | X | |
| Park | Y | |
| **Steering** | **Joystick** | |
| Steering | Left Joystick | |
| Brake | Left Trigger | |
| Throttle | Right Trigger | |
| Windsheild Wipers | Left Bumper | Not supported by all vehicle platforms |
| Horn | Right Bumper | Not supported by all vehicle platforms |
| **Headlights and Turn Signals** | **Directional Pad (left-hand side)** | |
| Left turn signal | Left | |
| Right turn signal | Right | |
| Headlights | Up | Not supported by all vehicle platforms |
| Hazards | Down | Not supported by all vehicle platforms |
## ROS API
### Launch Arguments
- **launch_driver**: Set this to true if you wish to launch the pacmod3 driver along with the `pacmod2_game_control` node. Defaults to `false`.
- **pacmod_vehicle_type**: Use this to set your vehicle type. See launch file for available options.
- **controller_type**: Use this to set your controller type. See launch file for available options.
- **steering_max_speed**: The maximum rotational speed of the steering wheel in (rad/s).
- **max_veh_speed**: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
- **accel_scale_val**: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to `1.0`.
- **brake_scale_val**: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to `1.0`.
- **use_socketcan**: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to `false`.
- **pacmod_can_hardware_id**: The hardware id of the kvaser device, only applies if `use_socketcan` is false.
- **pacmod_can_circuit_id**: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if `use_socketcan` is false.
- **pacmod_socketcan_device**: The device id of the SocketCAN channel the PACMod is plugged into, only applies if `use_socketcan` is true.