ds_dbw_joystick_demo

ROS2 interface to Dataspeed drive-by-wire platforms

Launch the drive-by-wire and the demo

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true

Launch the drive-by-wire and the demo and only send brake commands

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true steer:=false brake:=true thrtl:=false shift:=false misc:=false

Launch the drive-by-wire and the demo and specify all steer options

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true steer_cmd_type:=angle steer_max:=500.0 steer_rate:=0.0 steer_accel:=0.0

Launch the drive-by-wire and the demo and specify all brake options

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true brake_cmd_type:=pressure brake_min:=0.0 brake_max:=80.0 brake_inc:=0.0 brake_dec:=0.0
ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true brake_cmd_type:=accel brake_min:=0.1 brake_max:=-8.0 brake_inc:=0.0 brake_dec:=0.0

Launch the drive-by-wire and the demo and specify all throttle options

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true thrtl_cmd_type:=percent thrtl_min:=0.0 thrtl_max:=100.0 thrtl_inc:=0.0 thrtl_dec:=0.0

Parameters

See joystick_demo.launch.xml for a complete list of args

• steer Send steer commands. Default true
• steer_cmd_type Steer command type. Default percent. Options: torque angle curvature yaw_rate percent
• steer_max Steer command scale factor applied to joystick axis. Default 100.0% (changes with the value of steer_cmd_type)
• steer_rate Steer command rate limit in deg/s. Negative for unlimited. Default 0.0 (firmware selects default value)
• steer_accel Steer command acceleration limit in deg/s^2. Negative for unlimited. Default 0.0 (firmware selects default value)
• brake Send brake commands. Default true
• brake_cmd_type Brake command type. Default percent. Options: pressure torque accel accel_acc accel_aeb pedal_raw percent
• brake_max Brake command scale factor applied to joystick axis (with brake_min). Default 80.0% (changes with the value of brake_cmd_type)
• brake_min Brake command scale factor applied to joystick axis (with brake_max). Default 0.0% (changes with the value of brake_cmd_type)
• brake_inc Brake command rate limit for increase. Negative for unlimited. Default 0.0 (firmware selects default value) (units change with the value of brake_cmd_type)
• brake_dec Brake command rate limit for decrease. Negative for unlimited. Default 0.0 (firmware selects default value) (units change with the value of brake_cmd_type)
• thrtl Send throttle commands. Default true
• thrtl_cmd_type Throttle command type. Default percent. Options: pedal_raw percent
• thrtl_max Throttle command scale factor applied to joystick axis (with thrtl_min). Default 100.0% (changes with the value of thrtl_cmd_type)
• thrtl_min Throttle command scale factor applied to joystick axis (with thrtl_max). Default 0.0% (changes with the value of thrtl_cmd_type)
• thrtl_inc Throttle command rate limit for increase in %/s. Negative for unlimited. Default 0.0 (firmware selects default value)
• thrtl_dec Throttle command rate limit for decrease in %/s. Negative for unlimited. Default 0.0 (firmware selects default value)
• shift Send gear shift commands. Default true
• misc Send misc commands (turn-signal and others). Default true

Controls

Logitech F310 Gamepad controls:

• Disable
  • Left Bumper
• Enable
  • Right Bumper
• Brakes
  • Left Trigger
• Throttle
  • Right Trigger
• Steering
  • Left/right of either joystick axis
  • Hold back or start to get full steering range, otherwise half
• Turn Signals
  • D-Pad left/right toggle on/off
• AEB precharge
  • D-Pad up/down

Changelog for package ds_dbw_joystick_demo

2.3.5 (2025-06-27)

2.3.4 (2025-05-06)

2.3.3 (2025-03-28)

• Documentation updates
• Change joystick demo sys launch arg default to true
• Remove option to ignore system enable/disable buttons
• Contributors: Kevin Hallenbeck

2.3.2 (2025-02-18)

• Add AEB precharge control to brake command and joystick demo
• Contributors: Kevin Hallenbeck

2.3.1 (2024-12-18)

2.3.0 (2024-11-12)

• Remove deprecated turn signal from MiscReport and MiscCmd
• Contributors: Kevin Hallenbeck

2.2.3 (2024-09-30)

2.2.2 (2024-09-09)

2.2.1 (2024-08-12)

2.2.0 (2024-07-17)

• Separate turn signal messages with diagnostics Keep functionality in misc cmd/report for a while to ease the transition
• Contributors: Kevin Hallenbeck

2.1.16 (2024-06-17)

2.1.15 (2024-06-07)

2.1.14 (2024-05-29)

2.1.13 (2024-05-13)

2.1.12 (2024-04-01)

2.1.11 (2024-03-05)

• Use system enable/disable buttons when mode-sync is inactive
• Contributors: Kevin Hallenbeck

2.1.10 (2024-02-27)

• Add missing rclcpp_components dependency to package.xml
• Contributors: Kevin Hallenbeck

2.1.9 (2024-02-23)

2.1.8 (2024-02-20)

2.1.7 (2024-02-12)

• Add more documentation for DBW2 game-controller joystick-demo
• Steering wheel angle as degrees instead of radians
• Contributors: Kevin Hallenbeck

2.1.6 (2024-01-16)

• Refactor
• Fix joy device_id
• Contributors: Kevin Hallenbeck

2.1.5 (2024-01-03)

2.1.4 (2023-12-13)

• Single package for all platforms with new DBW2 CAN API
• Contributors: Kevin Hallenbeck