This package is for joystick remote control in ROS, it subscribes the joystick information from topic "/joy" and publish the velocity command on the topic "/mobile_base/commands/velocity". We using logitech joystick and other standard joysticks are also OK.
Hardware: logitech joystick or other standard joysticks
environment: Ubuntu 16.04, ROS Kinetic
- download this package and copy it to the src directory of your catkin workspace. then
catkin_make
andsource devel/setup.bash
sudo apt install ros-kinetic-joy
rosrun joy joy_node
rosrun joystick joystick
注意遥控器的模式(mode), 否则会导致错乱。
- 飞盘转动:长按'LB', 再按'X'
- 飞盘停止:长按'LB', 再按'B'
- 球框上升:长按'LB', 再按'Y'
- 球框下降:长按'LB', 再按'A'
- 球框停止:长按'LB', 再按'RB'
- 高速按键控制模式:长按'Y',用方向按键来控制机器人
- 低速按键控制模式:长按'A',用方向按键来控制机器人
- 高速摇杆控制模式:长按'X',用左摇杆来控制机器人
- 低速摇杆控制模式:长按'B',用左摇杆来控制机器人
- 检查手柄的连接,
ls /dev/input/
;查看是否有js0,有则说明已经连接上了- 测试手柄信号,
sudo jstest /dev/input/js0