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joystick_controller.md

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Joystick controller

Connection

  • Recognize the joystick: ls /dev/input
    • Genereally js0 on local machine, and on js2 virtual machine

Start the joy_node

  • Prerequisite: sudo apt-get install ros-kinetic-joy
  • Test the joystick:
    • sudo jstest /dev/input/js0
  • Run the node:
    • rosrun joy joy_node [device]
      • default to be device js0 if unspecified
      • E.g.: rosrun joy joy_node _dev:=/dev/input/js2
  • To get the joystick state data published over ROS.

Topic - joy

  • axes[6]

Controlling cmd_vel

  • Example code: joy_move.cpp
  • Turtlesim: joy_turtle.launch
    • Run: roslaunch joy_control joy_turtle.launch
    • Note: cmd_vel is remapped to a private namespace, /turtle1/cmd_vel
  • RoboRTS base: joy.launch
    • Run: roslaunch joy_control joy.launch
  • Note:
    • Change the [device] in the launch file if necessary (e.g.: to js2)

Reference