Joystick2coms

Control COMS with Joystick

We built a joystick system for Ogai Lab to make our EV-COMS funny. Tested Vehicle: COMS3.
Click to view the video:

Having fun controling the EV COMS in our Lab with Joystick!

Installation

This ROS package had been tested on ROS Kinect on Ubuntu 16.04
We use Lawicel CANUSB(http://www.can232.com) in our Lab to fulfill CAN_Bus communication
We tested two kinds of Joystick(Logitech F310 and Logitech F710)

Install Can-utils

The test tool for Lawicel CANUSB

sudo apt-get install can-utils

Install Joystick drivers

Install joystick drivers package for your ROS:

sudo apt-get install ros-kinetic-joystick-drivers

If failed to find the package "ros-kinect-joystick-drivers":

sudo apt-cache search ros-kinetic
sudo apt-get update
sudo apt-get install ros-kinetic-joystick-drivers

Install joystick2coms

Download the code:

# In your cankin_ws/
cd src/
git clone https://github.com/wolfram2012/joystick2coms.git

Build:

# In you catkin_ws/src/
cd ..
catkin_make

You got it !

Run the Programme

Make sure you have sourced setup.bash in your catkin_ws. Then run the roslaunch to make CAN-Bus and Joystick ready:

roslaunch joystick2coms joy2coms.launch

Maybe you will be asked for passward for opening the CANUSB. Don't worry, be happy.

If there is an error of:

• Roslaunch got a 'No such file or directory' error while attempting to run:terminator -x

Just install terminator, it's a good terminal:

sudo apt-get install terminator

If there is an error of:

• [ERROR]: Couldn't open joystick /dev/input/js0. Will retry every second.

That you just forget to plugin your joystick

When you roslaunch successfully, you will find a reconfig window:

You can set the CAN-Bus ID to send and regulate the rate of CAN-Bus(Defalut:Stop)

Then you can control our COMS (Control Program Version: BC_v1.2)

If you want to check the CAN message using CAN-utils:

candump slcan0

Control tips(example joystick: Logitech F710)

Module Number	Name	Function
1	Throttle Command	Accel Pedal
2	Brake Command	Brake Pedal
3	Steering Mode	Pressed:Large Angle Mode； Eased： Old Woman Mode
4	Lamps Command	←：left； →：right; ↓:double flash; ↑:cancel
5	Gear Command	A:drive; B:neutral; Y:reverse
6	Steering Command	Steering Wheel

Trajectory on Rviz

If you want to check the trajectory on Rviz:

roslaunch joystick2coms coms2trajectory.launch

You are welcome.