ros2/teleop_twist_joy

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 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.<axis>

  • 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.<axis>

  • 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.<axis>

  • 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.<axis>

  • 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.<axis>

  • 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.<axis>

  • 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)

• 'enable_track_control_button: 3'

  • base_width: 0.52
  • wheel_radius: 0.125
  • deadzone: 0.1

Track_on mode:

The robot now has a special feature to control the tracks in an individual manner. Its max speed is scaled to as the max speed of the robot, and there is a safety against joystick drift.

To use it, the operator must press the deadman switch (R1). Then press Y once to switch on/off the track_mode. The operator can now use the joysticks in a vertical way to make each track move individually in either direction. The turbo button (hold L1) is still available for this mode.

Usage

Install

For most users building from source will not be required, execute apt-get install ros-<rosdistro>-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:

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

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/<rosdistro>/share/teleop_twist_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')
  • Path to config files