https://github.com/khengyun/ros2_joystick_py

joy control template - custom code
https://github.com/khengyun/ros2_joystick_py

gazebo11 joy robotics ros2

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joy control template - custom code

• Host: GitHub
• URL: https://github.com/khengyun/ros2_joystick_py
• Owner: khengyun
• Created: 2023-03-04T13:26:57.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2023-04-20T20:27:04.000Z (almost 2 years ago)
• Last Synced: 2024-12-12T02:42:09.426Z (2 months ago)
• Topics: gazebo11, joy, robotics, ros2
• Language: Python
• Homepage:
• Size: 6.84 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# ros2_joystick_py

# Overview

The purpose of this package is to provide a generic facility for tele-operating Twist-based ROS2 robots with a standard joystick. 

It converts joy messages to velocity commands.

This node provides no rate limiting or autorepeat functionality. It is expected that you take advantage of the features built into [joy](https://index.ros.org/p/joy/github-ros-drivers-joystick_drivers/#foxy) for this.

## Executables

The package comes with the `teleop_node` that republishes `sensor_msgs/msg/Joy` messages as scaled `geometry_msgs/msg/Twist` messages.

## Subscribed Topics

- `joy (sensor_msgs/msg/Joy)`

  - Joystick messages to be translated to velocity commands.

## Published Topics

- `cmd_vel (geometry_msgs/msg/Twist)`

  - Command velocity messages arising from Joystick commands.

## Parameters

- `require_enable_button (bool, default: true)`

  - Whether to require the enable button for enabling movement.

- `enable_button (int, default: 0)`

  - Joystick button to enable regular-speed movement.

  

- `enable_turbo_button (int, default: -1)`

  - Joystick button to enable high-speed movement (disabled when -1).

- `axis_linear.`

  - Joystick axis to use for linear movement control.

  - `axis_linear.x (int, default: 5)`

  - `axis_linear.y (int, default: -1)`

  - `axis_linear.z (int, default: -1)`

- `scale_linear.`

  - Scale to apply to joystick linear axis for regular-speed movement.

  - `scale_linear.x (double, default: 0.5)`

  - `scale_linear.y (double, default: 0.0)`

  - `scale_linear.z (double, default: 0.0)`

- `scale_linear_turbo.`

  - Scale to apply to joystick linear axis for high-speed movement.

  - `scale_linear_turbo.x (double, default: 1.0)`

  - `scale_linear_turbo.y (double, default: 0.0)`

  - `scale_linear_turbo.z (double, default: 0.0)`

- `axis_angular.`

  - Joystick axis to use for angular movement control.

  - `axis_angular.yaw (int, default: 2)`

  - `axis_angular.pitch (int, default: -1)`

  - `axis_angular.roll (int, default: -1)`

  

- `scale_angular.`

  - Scale to apply to joystick angular axis.

  - `scale_angular.yaw (double, default: 0.5)`

  - `scale_angular.pitch (double, default: 0.0)`

  - `scale_angular.roll (double, default: 0.0)`

  

- `scale_angular_turbo.`

  - Scale to apply to joystick angular axis for high-speed movement.

  - `scale_angular_turbo.yaw (double, default: 1.0)`

  - `scale_angular_turbo.pitch (double, default: 0.0)`

  - `scale_angular_turbo.roll (double, default: 0.0)`

    

  

# Usage

## Install

For most users building from source will not be required,

- execute: `sudo apt-get install ros--teleop-twist-joy` to install.

## Run

A launch file has been provided which has three arguments which can be changed in the terminal or via your own launch file.

To configure the node to match your joystick a config file can be used. 

There are several common ones provided in this package (atk3, ps3-holonomic, ps3, xbox, xd3), located here: https://github.com/ros2/teleop_twist_joy/tree/eloquent/config.

PS3 is default, to run for another config (e.g. xbox) use this:

- open terminal 1:

 `ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' `

- open terminal 2:

 `python3 joy.py`

 

__Note:__ this launch file also launches the `joy` node so do not run it separately.

## Arguments

- `joy_config (string, default: 'ps3')`

  - Config file to use

- `joy_dev (string, default: 'dev/input/js0')`

  - Joystick device to use

- `config_filepath (string, default: '/opt/ros//share/teleop_twist_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')`

  - Path to config files