https://github.com/maxmsun/joey

Joey: Customizable ROS Joystick Driver for Differential-Drive Robots
https://github.com/maxmsun/joey

differential-drive differential-drive-robot joystick joystick-control robot robot-control robotics ros ros-driver ros-melodic ros-noetic

Last synced: about 1 month ago
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Joey: Customizable ROS Joystick Driver for Differential-Drive Robots

• Host: GitHub
• URL: https://github.com/maxmsun/joey
• Owner: MaxMSun
• License: gpl-3.0
• Created: 2021-08-25T22:01:51.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2021-08-26T02:16:35.000Z (over 3 years ago)
• Last Synced: 2024-12-17T18:46:52.463Z (about 1 month ago)
• Topics: differential-drive, differential-drive-robot, joystick, joystick-control, robot, robot-control, robotics, ros, ros-driver, ros-melodic, ros-noetic
• Language: C++
• Homepage:
• Size: 18.6 KB
• Stars: 2
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Joey: Customizable ROS Joystick Driver for Differential-Drive Robots

Joey is a highly-customizable ROS joystick driver designed for differential-drive robots. Users are able to customize axis and buttons for linear/angular velocity, linear/angular boost(acceleration) and safety(shutdown) mode.

## Install

### Dependencies

`Joey` depends on ROS default joystick driver, you can install it via `sudo apt install ros--joy`.

### Clone and compile

~~~

cd /src

git clone https://github.com/MuchenSun/Joey.git

cd ..

catkin build

~~~

## Usage

The `Joey_node` ROS node will subscribe to a joystick topic (with `sensor_msgs::Joy` message) from the `joy_node` node in the `joy` package (installation step above), and publish a velocity command in the format of `geometry_msgs::Twist` on the specified topic.

There are two example launch files named "sony\_dualshock3.launch" and "logitech\_f310.launch" specified for two common joystick models. They are a good start for customizing your own joystick driver.

### Parameters

 - joy\_topic: Joystick topic to subscribe to.

 - cmd\_topic: Control topic to publish to.

 - max\_lin\_vel: Maximum linear velocity allowed.

 - max\_ang\_vel: Maximum angular velocity allowed.

 - lin\_boost\_ratio: When not boosted, the maximum achievable linear velocity would be (max\_lin\_vel)x(lin\_boost\_ratio), the true maximum velocity could only be achieved with full boost.

 - ang\_boost\_ratio: When not boosted, the maximum achievable angular velocity would be (max\_ang\_vel)x(ang\_boost\_ratio), the true maximum velocity could only be achieved with full boost.

 - fractional\_boost: Whether the joystick supports (for example, whether the L1/2 and R1/2 buttons support fractional input).

 - lin\_vel\_axis: Joystick axis for linear velocity control.

 - lin\_boost\_axis: Joystick axis for linear boost control.

 - ang\_vel\_axis: Joystick axis for angular velocity control.

 - ang\_boost\_axis: Joystick axis for angular boost control. 

 - shutdown\_axis: Joystick axis for enabling "shutdown" mode, in which all other inputs will be ignored and the driver will publish zero-velocity command.

 - recover\_axis: Joystick axis for recovering from "shutdown" mode.

## License

This project is licensed under GPLv3. For any question, feel free to contact Muchen Sun ([email protected]).