ds_dbw_joystick_demo package from dbw_ros repo

dataspeed_dbw_common dataspeed_ulc dataspeed_ulc_can dataspeed_ulc_msgs dbw_fca dbw_fca_can dbw_fca_description dbw_fca_joystick_demo dbw_fca_msgs dbw_ford dbw_ford_can dbw_ford_description dbw_ford_joystick_demo dbw_ford_msgs dbw_polaris dbw_polaris_can dbw_polaris_description dbw_polaris_joystick_demo dbw_polaris_msgs ds_dbw ds_dbw_can ds_dbw_joystick_demo ds_dbw_msgs

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Package Summary

Tags	No category tags.
Version	2.1.12
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	2024-04-24
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/README.md

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

2.1.12 (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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	ament_cmake
	2	joy
	1	ds_dbw_can
	1	rclcpp
	1	rclcpp_components
	2	std_msgs
	2	sensor_msgs
	1	ds_dbw_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
ds_dbw	bitbucket-dataspeedinc-dbw_ros

Launch files

launch/joystick_demo.launch.xml
- - sys [default: false]
  - dataspeed_can [default: true]
  - socketcan [default: false]
  - socketcan_dev [default: can0]
  - buttons [default: true]
  - 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

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