Handle ROS1 course

1、Operating environment Operating System: Ubuntu 18.04 ROS version: mellodic Devices: Jetson nano, Raspberry Pi, PC

2、Install the driver

sudo apt install ros-melodic-joy ros-melodic-joystick-drivers

3、Usage steps

Connect the USB end of the wireless controller to the device

• View Device

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ls /dev/input

• Test handle

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sudo jstest /dev/input/js0 

If jstest is not installed, run the following command:

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sudo apt-get install joystick

• Operation handle node

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roscore step1
rosrun joy joy_node Step3
rostopic echo joy Step3

4、Handle control Little Turtle

Copy the wireless handle control function package to the workspace, compile and update the environment

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Catkin_ Make # Compile
Source dev/setup. bash # Update environment
Note: Any modifications to C++code require this step to take effect.

Start Python code command

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roslaunch joy_ctrl joy_turtlesim.launch

Start C++code command

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roslaunch joy_ctrl joy_turtle.launch

At this point, the handle can be used to control the operation of the little turtle. Corresponding relationship between the handle and the operation of the little turtle

• View node diagram

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rqt_graph

5、Handle controlled turbobot

Due to the need to start gazebo, there is a high demand for device performance. It is recommended to use it on a PC, as Jetson nano and Raspberry pie may become particularly sluggish and may not run properly.

Install gazebo and turbobot simulations

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sudo apt-get update
sudo apt-get upgrade
sudo apt-get install gazebo9 libgazebo9-dev ros-melodic-turtlebot3*

Copy the wireless handle control function package to the workspace, compile and update the environment

x
Catkin_ Make # Compile
Source dev/setup. bash # Update environment
Note: Any modifications to C++code require this step to take effect.

Start Python code command

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roslaunch joy_ctrl joy_turtlesim.launch

Start C++code command

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roslaunch joy_ctrl joy_turtle.launch robot_simulation:=turtlebot

At this point, the handle can be used to control the operation of the turbobot.

Corresponding relationship between the handle and the operation of the little turtlebot

• View node diagram

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rqt_graph

• gazebo close command

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killall gzserver gzclient

Appendix

jetson nano

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joy_data.buttons: header: 
  seq: 335
  stamp: 
    secs: 1628324636
    nsecs: 962988952
  frame_id: "/dev/input/js0"
axes: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

axes（8）

buttons（15）

Raspberry Pi

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joy_data.buttons: header: 
  seq: 264
  stamp: 
    secs: 1628326479
    nsecs: 848359307
  frame_id: "/dev/input/js0"
axes: [-0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

axes（8）

buttons（11）