ROS中无线手柄控制小车中反馈机制的改进
参考链接:ROS配置和使用Xbox One无线手柄添加链接描述
链接:https://blog.csdn.net/Jeffxu_lib/article/details/88074621
备注:参考turtlebot3进行设计手柄操作小车机制,x方向速度,yaw角度进行叠加,发现无线手柄程序的机制只能进行一次的操作,手柄不进行改变的时候,反馈指令接收就没有了,这样小车就不再移动了,所以想改一下,这样就可以连续操作小车移动了,类似与turtlebot3键盘机制。
源程序
首先我是参考上文的链接的,所以ROS中的一些东西就不讲了。
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
int linear_, angular_; // used to define which axes of the joystick will control our turtle
int stop; //用于急停
double l_scale_, a_scale_;
geometry_msgs::Twist twist;
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
// take //ros::spin(); the data from the joystick and manipulate it by scaling it and using independent axes to control the linear and angular velocities of the turtle
twist.angular.z += a_scale_*joy->axes[angular_]; //角度
twist.linear.x += l_scale_*joy->axes[linear_]; //线速度
stop = joy->buttons[1];
if(stop)
{
twist.angular.z = 0;
twist.linear.x = 0;
}
ROS_INFO("twist : [%.2f , %.2f]", twist.linear.x, twist.angular.z );
ROS_INFO("joy : [ %.2f , %.2f ]",joy->axes[0], joy->axes[1]);
ROS_INFO("Button : [%d , %d , %d , %d]", joy->buttons[0],joy->buttons[1],joy->buttons[2],joy->buttons[3]);
}
int main(int argc, char** argv)
{
linear_ = 0;
angular_ = 1;
l_scale_ = 0.1;
a_scale_ = 0.1;
// initialize our ROS node, create a teleop_turtle, and spin our node until Ctrl-C is pressed
ros::init(argc, argv, "teleop_turtle");
ros::NodeHandle nh_;
ros::Publisher vel_pub_ = nh_.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 1);
ros::Subscriber joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("joy", 100, &joyCallback);
nh_.param("axis_linear", linear_, linear_);
nh_.param("axis_angular", angular_, angular_);
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);
ros::Rate loop_rate(10);
while(ros::ok())
{
vel_pub_.publish(twist);
ros::spinOnce();
loop_rate.sleep();
}
}
这样相对于原作者的程序,没有使用C++的类的封装性,这样会大大减少程序的安全性,所以有人如果写了C++程序还望分享;
launch文件控制乌龟移动
程序:
<!-- 用于测试的launch文件 -->
<launch>
<!-- Turtlesim Node-->
<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
<!-- joy node -->
<node respawn="true" pkg="joy" type="joy_node" name="simulations_joy" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.12" />
</node>
<!-- Axes -->
<!-- button -->
<param name="axis_linear" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="0.1" type="double"/>
<param name="scale_angular" value="0.1" type="double"/>
<node pkg="learning_joy" type="turtle_teleop_joy" name="teleop" output="screen"/>
</launch>
效果展示
你可以看到乌龟按照一定的速度和角度进行转圈,而且此时不用再按手柄,当然还加入了急停的设置进行停止。
参考:
1、ROS配置和使用Xbox One无线手柄 https://blog.csdn.net/Jeffxu_lib/article/details/88074621
2、turtlebot3仿真代码 https://github.com/ROBOTIS-GIT/turtlebot3