joystick

Joystick Documentation

The joystick package publishes a geometry_msg/Twist message to the controls/desired_power topic. Currently, the supported joysticks are the Logitech Gamepad F310 and the Thrustmaster, but other Linux joysticks may be supported.

The buttons B, Y, change the joystick output.

• B sets the joysticks to publish lateral movement (X, Y), (Z, Yaw) to the current topic

• Y sets the joysticks to publish rotation (Pitch, Roll), (Z, Yaw) to the current topic

Where the joysticks input follows the form:

Left Stick (Up/Down, Left/Right), Right Stick (Up/Down, Left/Right)

Setup

Network

First, run roscore on the onboard computer. Then set up the network on the landside computer by executing

source /opt/ros/noetic/setup_network.bash

on the landside computer, if you are using the landside image. Otherwise you may execute

export ROS_MASTER_URI=http://192.168.1.1:11311

Nodes

Before launching the nodes, ensure that the joystick is plugged in and the input is being mapped to /dev/input/js0.

Start the raw joystick node on the landside computer by executing

roslaunch joystick_raw.launch

Start the joystick pulishing node on either computer by executing

roslaunch pub_joy.launch

Dependencies

This parser depends on the ROS joystick driver package joy. It requires the host OS to use the Linux kernel, regardless of whether or not you are using Docker.