teleop_acker_joy

Overview

The purpose of this package is to provide a generic facility for tele-operating Ackermann-based ROS2 robots with a standard joystick. It converts joy messages to Ackermann 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 ackermann_msgs/msg/AckermannDriveStamped messages.

Subscribed Topics

• joy (sensor_msgs/msg/Joy)
  • Joystick messages to be translated to velocity commands.

Published Topics

• cmd_vel (ackermann_msgs/msg/AckermannDriveStamped)
  • Command velocity messages arising from Joystick commands.

Parameters (currently in the flow!)

• 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.<thing>

  • Define the joystick axis to use
  • axis.linear (int, default 5)
  • axis.steering_angle (int, default 6)
  • axis.steering_angle_fine (int, default -1)
  • axis.steering_angle_velocity (int, default -1)

• scale.<thing>

  • Scale to apply to joystick axis for regular-speed movement.
  • scale.linear (double, default 0.5)
  • scale.steering_angle (double, default 1.4)
  • scale.steering_angle_fine (double, default 0.0)
  • scale.steering_angle_velocity (double, default 0.0)

• scale_turbo.<thing>

  • Scale to apply to joystick axis for turbo-speed movement.
  • scale_turbo.linear (double, default 1.0)
  • scale_turbo.steering_angle (double, default 0.8)
  • scale_turbo.steering_angle_fine (double, default 0.0)
  • scale_turbo.steering_angle_velocity (double, default 0.0)

• offset.<thing>

  • Offset to apply to joystick axis.
  • offset.linear (double, default 0.0)
  • offset.steering_angle (double, default 0.0)
  • offset.steering_angle_fine (double, default 0.0)
  • offset.steering_angle_velocity (double, default 0.4)

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_acker_joy/tree/eloquent/config.

PS3 is default, to run for another config (e.g. xbox) use this:

ros2 launch teleop_acker_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_acker_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')
  • Path to config files