Package Summary

Tags No category tags.
Version 2.1.8
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dbw_ros.git
VCS Type git
VCS Version ros2
Last Updated 2024-02-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Demonstration of drive-by-wire with joystick

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Micho Radovnikovich

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

  • 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. Default 0.0 (firmware selects default value)
  • steer_accel Steer command acceleration limit in deg/s^2. 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. Default 0.0 (firmware selects default value) (units change with the value of brake_cmd_type)
  • brake_dec Brake command rate limit for decrease. 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. Default 0.0%/s (firmware selects default value)
  • thrtl_dec Throttle command rate limit for decrease. Default 0.0%/s (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
    • Left/Right D-Pad toggle on/off
CHANGELOG

Changelog for package ds_dbw_joystick_demo

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

  • launch/joystick_demo.launch.xml
      • sys [default: false]
      • dataspeed_can [default: true]
      • socketcan [default: false]
      • socketcan_dev [default: can0]
      • enable [default: true]
      • ignore [default: false]
      • steer [default: true]
      • brake [default: true]
      • thrtl [default: true]
      • shift [default: true]
      • misc [default: true]
      • steer_cmd_type [default: ]
      • brake_cmd_type [default: ]
      • thrtl_cmd_type [default: ]
      • steer_max [default: ]
      • brake_min [default: ]
      • brake_max [default: ]
      • thrtl_min [default: ]
      • thrtl_max [default: ]
      • steer_rate [default: 0.0]
      • steer_accel [default: 0.0]
      • brake_inc [default: 0.0]
      • brake_dec [default: 0.0]
      • thrtl_inc [default: 0.0]
      • thrtl_dec [default: 0.0]
      • device_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ds_dbw_joystick_demo at Robotics Stack Exchange

No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.1.8
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dbw_ros.git
VCS Type git
VCS Version ros2
Last Updated 2024-02-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Demonstration of drive-by-wire with joystick

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Micho Radovnikovich

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

  • 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. Default 0.0 (firmware selects default value)
  • steer_accel Steer command acceleration limit in deg/s^2. 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. Default 0.0 (firmware selects default value) (units change with the value of brake_cmd_type)
  • brake_dec Brake command rate limit for decrease. 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. Default 0.0%/s (firmware selects default value)
  • thrtl_dec Throttle command rate limit for decrease. Default 0.0%/s (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
    • Left/Right D-Pad toggle on/off
CHANGELOG

Changelog for package ds_dbw_joystick_demo

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

  • launch/joystick_demo.launch.xml
      • sys [default: false]
      • dataspeed_can [default: true]
      • socketcan [default: false]
      • socketcan_dev [default: can0]
      • enable [default: true]
      • ignore [default: false]
      • steer [default: true]
      • brake [default: true]
      • thrtl [default: true]
      • shift [default: true]
      • misc [default: true]
      • steer_cmd_type [default: ]
      • brake_cmd_type [default: ]
      • thrtl_cmd_type [default: ]
      • steer_max [default: ]
      • brake_min [default: ]
      • brake_max [default: ]
      • thrtl_min [default: ]
      • thrtl_max [default: ]
      • steer_rate [default: 0.0]
      • steer_accel [default: 0.0]
      • brake_inc [default: 0.0]
      • brake_dec [default: 0.0]
      • thrtl_inc [default: 0.0]
      • thrtl_dec [default: 0.0]
      • device_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ds_dbw_joystick_demo at Robotics Stack Exchange

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.