罗技手柄使用及总结

1.首先安装joy这个节点，通过

sudo apt-get install ros-kinetic-joy

 

2.配置JoyStick

ls /dev/input/

你会看到

by-id    event1   event12  event15  event18  event3  event6  event9  mouse0
by-path  event10  event13  event16  event19  event4  event7  js0     mouse1
event0   event11  event14  event17  event2   event5  event8  mice    mouse2

js0即为罗技键盘输入

3.测试

sudo jstest /dev/input/js0

即可看到各通道的值以及按钮的通断情况

4.使用

赋值权限

sudo chmod a+rw /dev/input/js0

启动ROS驱动节点

roscore

rosparam set joy_node/dev "/dev/input/js0"
rosrun joy joy_node

接收ROS( sensor_msgs/Joy)消息

rostopic echo joy

5.将其应用到ROS

安装turtlebot_teleop包

sudo apt-get install ros-kinetic-turtlebot-teleop

然后将/opt/ros/kinetic/share/turtlebot_teleop/launch文件夹里面的logitech.launch文件修改为

<!--
  Driver for the logitech rumblepad2 joystick.

  Use the D pad while pressing and holding the left trigger button (5) to control.
-->
<launch>
  <!--  smooths inputs from cmd_vel_mux/input/teleop_raw to cmd_vel_mux/input/teleop -->
  <include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>

  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
    <param name="scale_angular" value="1.5"/>
    <param name="scale_linear" value="0.5"/>
    <param name="axis_deadman" value="4"/>
    <param name="axis_linear" value="5"/>
    <param name="axis_angular" value="4"/>
    <remap from="turtlebot_teleop_joystick/cmd_vel" to="/xqserial_server/Twist"/>
  </node>

  <node pkg="joy" type="joy_node" name="joystick">
  <param name="dev" type="string" value="/dev/input/js0" />
  </node>
</launch>

6.安装蓝鲸小强驱动代码(编译前请切到轮毂电机)

cd ~/catkin_ws/src
git clone https://github.com/BlueWhaleRobot/xqserial_server.git 
git checkout lungu
cd ..
catkin_make

修改其xqserial.launch文件

原

<launch>
  <node pkg="xqserial_server" type="xqserial_server" name="motor_driver">
    <param name="debug_flag" value="false"/>
    <param name="wheel_separation" value="0.360"/>
    <param name="wheel_radius" value="0.0825"/>
    <param name="max_speed" value="5.0"/>
    <param name="port" value="/dev/ttyUSB001"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="baselink_broadcaster" args="0 0 0.15 0 0 0 1 base_footprint base_link 50">
  </node>
  <node pkg="tf" type="static_transform_publisher" name="baselinkSonar_broadcaster1" args="0.135 -0.130 0.24 0 0 0  base_link sonar1 50"/>
  <node pkg="tf" type="static_transform_publisher" name="baselinkSonar_broadcaster2" args="0.135 0.130 0.24 0 0 0  base_link sonar2 50"/>
  <node pkg="tf" type="static_transform_publisher" name="imulink_broadcaster" args="0.07 -0.03 0 0 0 0 1 base_link imu 50"/>
</launch>

改： wheel_radius：轮子半径，wheel_separation：两轮轴距，max_speed：最大线速度，

<launch>
  <node pkg="xqserial_server" type="xqserial_server" name="motor_driver">
    <param name="debug_flag" value="false"/>
    <param name="wheel_separation" value="0.360"/>
    <param name="wheel_radius" value="0.0825"/>
    <param name="max_speed" value="5.0"/>
    <param name="port" value="/dev/ttyUSB0"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="baselink_broadcaster" args="0 0 0.15 0 0 0 1 base_footprint base_link 50">
  </node>
  <node pkg="tf" type="static_transform_publisher" name="baselinkSonar_broadcaster1" args="0.135 -0.130 0.24 0 0 0  base_link sonar1 50"/>
  <node pkg="tf" type="static_transform_publisher" name="baselinkSonar_broadcaster2" args="0.135 0.130 0.24 0 0 0  base_link sonar2 50"/>
  <node pkg="tf" type="static_transform_publisher" name="imulink_broadcaster" args="0.07 -0.03 0 0 0 0 1 base_link imu 50"/>
</launch>