Welcome to Game Handle repository

ROS2 Handle Driver

ROS2 Handle Drive

I. Setup of the experimental Environment

Ubuntu22.04
Humble

Note

This tutorial uses a 2.4G test environment as an example!

The controller supports rapid-fire functionality. If you experience jitter when pressing a button, please disable the rapid-fire function for the corresponding button according to the instruction manual.

Before testing, ensure the controller receiver is connected to the motherboard or PC, and switch the controller to DINPUT. ( Press and hold FN+SELECT for 3 seconds ) A solid blue indicator light indicates successful pairing of the controller.

If you use the virtual machine environment we provide, you can skip the following environment setup steps and directly conduct the controller test

Install the handle to control the environment


sudo apt install ros-humble-joy*

Type "Y" and press Enter to confirm the installation

Install joystick


xxxxxxxxxx
sudo apt install joystick

Type "Y" and press Enter to confirm the installation

After the installation is completed, refresh the environment variables again


xxxxxxxxxx
source ~/.bashrc

Ii.Test the handle

test method 1

Before testing, make sure the handle receiver is connected to the motherboard or PC and successfully paired. Enter the following command to check if the handle device can be detected


xxxxxxxxxx
ll /dev/input/js0

As shown in the figure, it indicates that the handle receiver has been successfully recognized. Note that if a mouse or keyboard is connected, the js device may also be recognized, but the program only recognizes js0. Therefore, if there are multiple js devices, the handle receiver should be connected first, and then the other devices. If the handle is connected, the indicator light will be in a constant green state. If it flashes, it indicates that the connection is disconnected.

Execute the test instructions

Here, the actual device number is taken as the standard. We take js0 as an example


xxxxxxxxxx
sudo jstest /dev/input/js0

test method 2:

Enter the following instructions to the terminal to run the handle node program


xxxxxxxxxx
ros2 run joy joy_node

Open another terminal and input


xxxxxxxxxx
ros2 topic echo /joy

Open another topic about terminal print controllers

Iii. Button Introduction

【Buttons】Represent physical buttons

Buttons Index	Gamepad Button
buttons[0]	A
buttons[1]	B
buttons[2]
buttons[3]	X
buttons[4]	Y
buttons[5]
buttons[6]	L1\|LB
buttons[7]	R1\|RB
buttons[8]	L2\|LT
buttons[9]	R2\|RT
buttons[10]	SELECT
buttons[11]	START
buttons[12]	Left Stick Press
buttons[13]	Right Stick Press

【Axes】Represent joysticks

Axes Index	Gamepad Control
axes[0]	Left Joystick (Left = Positive, Right = Negative)
axes[1]	Left Joystick (Up = Positive, Down = Negative)
axes[2]	Right Joystick (Left = Positive, Right = Negative)
axes[3]	Right Joystick (Up = Positive, Down = Negative)
axes[4]	R2\|RT (Pressed: -1, Released: 1)
axes[5]	L2\|LT (Pressed: -1, Released: 1)
axes[6]	D-pad (Horizontal) (Left = Positive, Right = Negative)
axes[7]	D-pad (Vertical) (Up = Positive, Down = Negative)

Iv. Control Turtle with Gamepad

Execute the following commands:


xxxxxxxxxx
ros2 run turtlesim turtlesim_node

Start the handle to control the node


xxxxxxxxxx
ros2 launch joy_turtle_ctrl joy_turtle_ctrl_launch.py

The little turtle can be controlled by moving the left and right joysticks

Gamepad Button	Function Description
Left Joystick Up	Move Forward
Left Joystick Down	Move Backward
Right Joystick Up	Turn Left
Right Joystick Down	Turn Right右转

ROS1 Handle Driver

ROSMASTER M3 Pro Car Control Tutorial