游戏手柄之自定义按钮控制海龟_手柄自定义发招-CSDN博客

本文链接：https://blog.csdn.net/qq_34935373/article/details/87921663

该文为基础上https://blog.csdn.net/qq_34935373/article/details/87905784

想通过游戏手柄自定义话题，自定义按键实现对海龟的控制。于是有了本文

新建节点/joymsg_pub_node和话题/joycontrol_topic.

在src/目录下新建功能包joy_msg，在joy_msg/src的新建源文件joymsg_pub.cpp。代码如下：：

#include "ros/ros.h"

#include<geometry_msgs/Twist.h>

#include <iostream>

#include <sstream>

#include <stdio.h> //perror()

#include <unistd.h> //fork()

#include <stdlib.h>

#include <errno.h> //errno, EINTR

#include <string.h> //strlen()

#include <fcntl.h>

#include <signal.h>

#include <syspes.h>

#include <sys/stat.h>

#include <linux/input.h>

#include <linux/joystick.h>

#include <errno.h>

#include <pthread.h>

#define AXES0 0x00 //Left_Axis from right to left

#define AXES1 0x01 //Left_Axis from up to down

#define AXES2 0x02 //Right_Axis from right to left

#define AXES3 0x03 //Right_Axis from down to up

#define AXES4 0x04 //R&L_Key from Right_Key to Left_Key

#define AXES5 0x05 //D&U_Key from Down_key to Up_key

#define BUTTON0 0x00 //X_Botton

#define BUTTON1 0x01 //A_Botton

#define BUTTON2 0x02 //B_Botton

#define BUTTON3 0x03 //Y_Botton

#define BUTTON4 0x04 //LB_Botton

#define BUTTON5 0x05 //RB_Botton

#define BUTTON6 0x06 //LT_Botton

#define BUTTON7 0x07 //RT_Botton

#define BUTTON8 0x08 //BACK_Botton

#define BUTTON9 0x09 //START_Botton

#define BUTTON10 0x10 //Left_Axis__Botton

#define BUTTON11 0x11 //Right_Axis_Botton

float linear_x,linear_y,linear_z ;

float angular_x,angular_y,angular_z, value ;

int len, type, number;

int ret0;

pthread_t id0;

struct js_event js;

int js_fd;

void * read_js_data(void *);

using namespace std;

int main(int argc, char **argv)

{

//Initializing ROS node with a name of joymsg_pub

ros::init(argc, argv,"joymsg_pub");

//Created a nodehandle object

ros::NodeHandle n1;

//Create a publisher object

ros::Publisher number_publisher = n1.advertise<geometry_msgs::Twist>("/joycontrol_topic",100);

//Create a rate object

ros::Rate loop_rate(100);

//Variable of the number initializing as zero

js_fd = open("/dev/input/js0", O_RDONLY);

if (js_fd < 0)

{

perror("open");

return -1;

}

pthread_create(&id0,NULL,read_js_data,NULL); // 成功返回0，错误返回错误编号

if(ret0!=0)

{

printf ("Create pthread1 error!\n");

exit(1);

}

ret0=pthread_detach(id0);

while (ros::ok())

{

//Created geometry_msgs/Twist 这里可以加入你自定义文件，本文控制的是海龟，所以是这个消息格式，自定义文件，头文件记得添加奥

geometry_msgs::Twist msg;

//Inserted data to message header

msg.linear.x = linear_x;

msg.linear.y = linear_y;

msg.linear.z = linear_z;

msg.angular.x = angular_x ;

msg.angular.y = angular_y;

msg.angular.z = angular_z;

//Publishing the message

number_publisher.publish(msg);

//Spining once for doing the all operation once

ros::spinOnce();

//Setting the loop rate

loop_rate.sleep();

}

return 0;

}

void * read_js_data(void *)

{

while(1)

{

len = read(js_fd, &js, sizeof(struct js_event));

if (len < 0)

{

perror("read");

return 0 ;

}

value = js.value;

type = js.type;

number = js.number;

if (type == JS_EVENT_BUTTON)

{

/* if( number == BUTTON0 )

{

linear_x=value;

}

if( number == BUTTON5 )

{

angular_z=value;

}

这里是设置按钮为操作单位，本文采用axis轴作为输入*/

}

else if (type == JS_EVENT_AXIS)

{

if( number == AXES5 )

{

linear_x = value;

}

if( number == AXES3 )

{

angular_z= value;

}

//本文中控制海龟只用到了这两个

}

} }

修改package.xml文件，添加依赖

<buildtool_depend>catkin<ildtool_depend>

<build_depend>roscpp<ild_depend>

<build_depend>rospy<ild_depend>

<build_depend>std_msgs<ild_depend>

<build_export_depend>roscpp<ild_export_depend>

<build_export_depend>rospy<ild_export_depend>

<build_export_depend>std_msgs<ild_export_depend>

<exec_depend>roscpp</exec_depend>

<exec_depend>rospy</exec_depend>

<exec_depend>std_msgs</exec_depend>

<exec_depend>message_runtime</exec_depend>

修改CMakeLists.txt

add_executable(joymsg_pub

src/joymsg_pub.cpp

)

add_dependencies(joymsg_pub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(joymsg_pub

${catkin_LIBRARIES}

)

本文是基于博客https://blog.csdn.net/qq_34935373/article/details/87905784基础上做的，如果又不懂得，建议看下上文。

进入input_js_control的功能包修改源代码logitech.cpp，如下：

#include<ros/ros.h>

#include<geometry_msgs/Twist.h>

//#include <sensor_msgs/Joy.h>

#include<iostream>

using namespace std;

class Teleop

{

public:

Teleop();

private:

/* data */

void callback(const geometry_msgs::Twist::ConstPtr& Joy);

ros::NodeHandle n; //实例化节点

ros::Subscriber sub ;

ros::Publisher pub ;

double vlinear,vangular;//我们控制乌龟的速度，是通过这两个变量调整

// int axis_ang,axis_lin; //axes[]的键

};

Teleop::Teleop()

{

//我们将这几个变量加上参数，可以在参数服务器方便修改

// n.param<int>("axis_linear",axis_lin,1); //默认axes[1]接收速度

// n.param<int>("axis_angular",axis_ang,0);//默认axes[0]接收角度

n.param<double>("vel_linear",vlinear,1);//默认线速度1 m/s

n.param<double>("vel_angular",vangular,1);//默认角速度1 单位rad/s

pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",1);//将速度发给乌龟

sub = n.subscribe<geometry_msgs::Twist>("joycontrol_topic",10,&Teleop::callback,this);

} //订阅游戏手柄发来的数据}

void Teleop::callback(const geometry_msgs::Twist::ConstPtr& Joy)

{

geometry_msgs::Twist v;

v.linear.x =Joy->linear.x*vlinear*0.001; //之后的参数设置在launch文件中输入你的期望值，将游戏手柄的数据乘以你想要的速度，然后发给乌龟

v.angular.z =Joy->angular.z*vangular*0.001;

ROS_INFO("linear:%.3lf angular:%.3lf",v.linear.x,v.angular.z);

pub.publish(v);

}

int main(int argc,char** argv)

{

ros::init(argc, argv, "joy_to_turtle");

Teleop teleop_turtle;

ros::spin();

return 0;

}

修改input_js_control.launch文件如下

<de>

<de>

<de>

<!-- node respawn="true" pkg="joy" type="joy_node" name="joystick" >

<de -->

</launch>

回到工作目录执行catkin_make 编译节点

然后执行launch文件，就可以了。

最后自己修改按键和axis的轴，确定对应的数字号。我用的是logitech wireless gamepad F710型号.测试结果如下:

说明轴0,1和轴4,5在jstest测试和本文测试中顺序相反.