如何让罗技29方向盘像视频中的那样转动起来？

​​​​​​​[vlog]Autoware Carla G29 自动驾驶仿真_哔哩哔哩_bilibili

话接上文，在我之前一篇博客中已经讲解了如何给罗技29方向盘装上力反馈，也就是在拨动方向盘的时候感觉有一个力组织你过度的拨动方向盘，其实它真正的用处是用于实现对方向盘发送控制指令，这不就是所谓的自动驾驶嘛！！！！(2条消息) logitech G29 Carla_”悟道“的博客-CSDN博客

最上面B站上有一个视频，展示的是Autoware发送rviz中虚拟方向盘的控制指令，Up写了一个转发的ros节点，将控制指令给转发出来，通过对罗技29的力反馈句柄上发送控制指令，实现了如此酷炫的效果，我也尝试自己写出一个转发节点，今天开源给大家，供大家参考；

#include <iostream>                                           //文件流头文件
#include "rclcpp/rclcpp.hpp"                                    
#include "sensor_msgs/msg/joy.hpp"                            
#include "ros_g29_force_feedback/msg/force_feedback.hpp"      //之前博客中的力反馈头文件

class Voyager : public rclcpp::Node                            
{
public:
  Voyager() : Node("voyager")                                //转发节点的名字叫voyager
  {
    subscription_=this->create_subscription<sensor_msgs::msg::Joy>(
      "/joy", 10, std::bind(&Voyager::callback, this, std::placeholders::_1)); //订阅者
    publisher_ = this->create_publisher<ros_g29_force_feedback::msg::ForceFeedback>(
      "/ff_target", 10);                                        //发布者
  }

private:
    void callback(const sensor_msgs::msg::Joy::SharedPtr msg)
    {
      RCLCPP_INFO(this->get_logger(), "Steering tire angle: %f", msg->axes[0]);
      auto ff_msg = ros_g29_force_feedback::msg::ForceFeedback();
      // ff_msg.header.stamp = msg->header.stamp;
      ff_msg.header.stamp = msg->header.stamp;
      ff_msg.header.frame_id=" ";
      // ff_msg.position = msg->axes[0];
      if(msg->axes[0] > 0){
        ff_msg.position = -1 * (msg->axes[0]+0.09);
      }
      else if (msg->axes[0] < 0){
        ff_msg.position = -1 * msg->axes[0] + 0.09;
      }
      else {
        ff_msg.position = 0;
      }
      // ff_msg.position = -1 * (msg->axes[0]+0.09);
      ff_msg.torque = 0.5;
      // RCLCPP_INFO(this->get_logger());
      publisher_->publish(ff_msg);
    }
  rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr subscription_;
  rclcpp::Publisher<ros_g29_force_feedback::msg::ForceFeedback>::SharedPtr publisher_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<Voyager>());
  rclcpp::shutdown();
  return 0;
}

这里面有一个Ubuntu的包叫joy，一般用于各鼠标键盘按压数据的接收的，我们这里可以用他来记录罗技29的转动角度（通过录rosbag的方式），到时候只需要播放bag包，罗技29方向盘就可以自己转动了；如果你想直接从autoware中获取方向盘的转动角度，也是可以的，需要修改一个subscribe（订阅者）的msg，然后根据发送过来的消息，将其中重要的数据，方向盘的转动角度，进行转发，转发给罗技方向盘就可以；

package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>voyager_pub_sub</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="m0_48707860@example.com">voyager</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

  <depend>std_msgs</depend>
  <depend>rclcpp</depend>
  <depend>ros_g29_force_feedback</depend>
  <depend>sensor_msgs</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

CMakeLists.txt怎么写呢？

cmake_minimum_required(VERSION 3.8)
project(voyager_pub_sub)


# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

find_package(ros_g29_force_feedback REQUIRED)
find_package(sensor_msgs REQUIRED)
# find_package(joy REQUIRED)

set(dependencies
  rclcpp
  std_msgs
  ros_g29_force_feedback
  sensor_msgs
)

# Generate project targer with msg
# rosidl_generate_interfaces(${PROJECT_NAME}
  # "msg/ForceFeedback.msg"
  # DEPENDENCIES rosidl_default_generators std_msgs)

# Add executable
add_executable(voyager_node src/voyager.cpp)
ament_target_dependencies(voyager_node ${dependencies})

install(TARGETS voyager_node
  DESTINATION lib/${PROJECT_NAME})

ament_export_dependencies(rosidl_default_runtime)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

 其中msg文件下存放的是，之前博客中罗技29的消息体；

include中没有东西；

然后C++代码写完，剩下的就是编译了，把这个节点编译出来

source /autoware/install/setup.bash

colcon build --allow-overriding autoware_auto_vehicle_msg

1.脚本1：用于更新代码中罗技29的event口

由于每次罗技29插在电脑上，开机重启的时候这个event可能会改变，所以我用shell脚本，写了一个找到罗技29的event，并修改代码；

#!/bin/bash

event=$(cat /proc/bus/input/devices | grep "Logitech G29 Driving Force Racing Wheel" -A 5 | grep "Handlers" | grep -o "event[0-9]*")

echo "Event number: $event"

sed -i "s|/dev/input/event[0-9]*|/dev/input/$event|" Lg29/ros2_ws/src/ros-g29-force-feedback/config/g29.yaml

echo "Event changed"

2.脚本2：用于启动罗技29的节点

#!/bin/bash

gnome-terminal -e 'ls -l'

source /opt/ros/galactic/setup.bash

cd Lg29/ros2_ws/

source install/setup.bash

ros2 run ros_g29_force_feedback g29_force_feedback --ros-args --params-file src/ros-g29-force-feedback/config/g29.yaml

3.脚本3：启动转发节点

#!/bin/bash


gnome-terminal -e 'ls -l'


cd record_g29/

source install/setup.bash

ros2 run voyager_pub_sub voyager_node

4.脚本4：如果是自己通过罗技29录制的rosbag，可以选择播放rosbag,也可以选择从autoware中把节点转发出来，然后启动autoware的节点：

今日思考：其实可以对方向盘的转动做出平滑，这样方向盘的转动会更舒缓；期待大家的改进！！！