Package Summary

Tags No category tags.
Version 3.3.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version ros2
Last Updated 2024-01-04
Dev Status MAINTAINED
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

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren
  • Rod Taylor

ROS 2 Driver for Generic Joysticks and Game Controllers

The joy package contains joy_node, and game_controller node which interface generic joysticks and game controllers to ROS 2. These nodes publish "sensor_msgs/msg/Joy" messages, which contain the state of the devices button and axes. Examples of game controllers are ones that come with recently released game consoles and their after market clones.

The game_controller_node uses SDL2's built device mapping database to give buttons and axes a consistent order in the "sensor_msgs/msg/Joy". Custom mappings can also be supplied using SDL's SDL_GAMECONTROLLERCONFIG environment variable. A third party tool can be used to create the mapping string. The joy_node supports both joysticks and game controllers but the order that buttons and axes appear with the message will dependend on the manufacturer of the device.

For game_controller_node the following tables detail the indexes of buttons and axes.

Index Button
0 A (CROSS)
1 B (CIRCLE)
2 X (SQUARE)
3 Y (TRIANGLE)
4 BACK (SELECT)
5 GUIDE (Middle/Manufacturer Button)
6 START
7 LEFTSTICK
8 RIGHTSTICK
9 LEFTSHOULDER
10 RIGHTSHOULDER
11 DPAD_UP
12 DPAD_DOWN
13 DPAD_LEFT
14 DPAD_RIGHT
15 MISC1 (Depends on the controller manufacturer, but is usually at a similar location on the controller as back/start)
16 PADDLE1 (Upper left, facing the back of the controller if present)
17 PADDLE2 (Upper right, facing the back of the controller if present)
18 PADDLE3 (Lower left, facing the back of the controller if present)
19 PADDLE4 (Lower right, facing the back of the controller if present)
20 TOUCHPAD (If present. Button status only)
Index Axis
0 LEFTX
1 LEFTY
2 RIGHTX
3 RIGHTY
4 TRIGGERLEFT
5 TRIGGERRIGHT

For joy_node run ros2 run joy joy_node in one terminal and ros2 topic echo /joy in another. Pressing buttons and moving sticks can be used to determine at which location they appear in "sensor_msgs/msg/Joy".

Supported Hardware

This nodes should work with any joystick or game controller that is supported by SDL.

Published Topics

Subscribed Topics

Parameters

  • device_id (int, default: 0)

    • The joystick device to use. ros2 run joy joy_enumerate_devices wil list the attached devices.
  • device_name (string, default: "")

    • The joystick name to use. This can be useful when multiple different joysticks are attached. If both device_name and device_id are specified, device_name takes precedence.
  • deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value.
  • autorepeat_rate (double, default: 20.0)

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message. If set to 0.0, autorepeat will be disabled, meaning joy messages will only be published when the joystick changes. Cannot be larger than 1000.0.
  • sticky_buttons (bool, default: false)

    • Whether buttons are "sticky". If this is false (the default), then a button press will result in a 1 being output, and a button release will result in a 0 being output. If this is true, then a button press will toggle the current state of the button, and a button release will do nothing. Thus, hitting the button while it is currently 0 will switch it to 1, and keep it at 1 until the button is pressed again.
  • coalesce_interval_ms (int, default: 1)

    • The number of milliseconds to wait after an axis event before publishing a message. Since the kernel sends an event for every change, this can significantly reduce the number of messages published. Setting it to 0 disables this behavior. The default of 1 ms is a good compromise between message delays and number of messages published.

Technical note about interfacing with joysticks and game controllers on Linux

On Linux there are two different ways to interface with a joystick. The distinction only makes a difference when attempting to pass through the device into a container or virtual machine. The first interface is via the joystick driver subsystem, which generally shows up as a device in /dev/input/js0 (or other numbers at the end). This is the way that the "joy_linux" package accesses the joystick. The second way to interface is through the generic event subsystem, which generally shows up as /dev/input/event7 (or other numbers at the end). This is the way that SDL (and hence this "joy" package) accesses the joysticks.

CHANGELOG

Changelog for package joy

3.3.0 (2023-10-31)

  • Fix compatibility with SDL versions below 2.0.18 (#273)
  • Contributors: Johannes Meyer

3.2.0 (2023-10-10)

  • Remove ament target deps for the new game_controller node. (#272)
  • Use the SDL2 Game Controller API (#258)
  • fix autorepeat not being triggered when inside deadzone (#261)
  • Linter fix.
  • fix high CPU usage (#247)
  • Contributors: Chris Lalancette, Joshua Whitley, Marco Boneberger, Roderick Taylor, Tony Najjar

3.1.0 (2022-01-28)

  • Install includes to include/ and misc CMake fixes (#225)
  • Style fixes for newer cpplint.
  • Contributors: Chris Lalancette, Shane Loretz

3.0.1 (2022-01-28)

  • Override device_id when device_name is provided. (#199) (#211)
  • Contributors: Tiger Sachse

3.0.0 (2021-03-12)

  • Fix SDL2 include path (#196)
  • Contributors: Scott K Logan

2.4.1 (2020-05-13)

  • Small fixes for uncrustify on Foxy. (#171)
  • Contributors: Chris Lalancette

2.4.0 (2020-05-12)

  • Cross platform joystick support for ROS 2 (#157)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master
  • Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Zihan Chen

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 3.3.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version ros2
Last Updated 2024-01-04
Dev Status MAINTAINED
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

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren
  • Rod Taylor

ROS 2 Driver for Generic Joysticks and Game Controllers

The joy package contains joy_node, and game_controller node which interface generic joysticks and game controllers to ROS 2. These nodes publish "sensor_msgs/msg/Joy" messages, which contain the state of the devices button and axes. Examples of game controllers are ones that come with recently released game consoles and their after market clones.

The game_controller_node uses SDL2's built device mapping database to give buttons and axes a consistent order in the "sensor_msgs/msg/Joy". Custom mappings can also be supplied using SDL's SDL_GAMECONTROLLERCONFIG environment variable. A third party tool can be used to create the mapping string. The joy_node supports both joysticks and game controllers but the order that buttons and axes appear with the message will dependend on the manufacturer of the device.

For game_controller_node the following tables detail the indexes of buttons and axes.

Index Button
0 A (CROSS)
1 B (CIRCLE)
2 X (SQUARE)
3 Y (TRIANGLE)
4 BACK (SELECT)
5 GUIDE (Middle/Manufacturer Button)
6 START
7 LEFTSTICK
8 RIGHTSTICK
9 LEFTSHOULDER
10 RIGHTSHOULDER
11 DPAD_UP
12 DPAD_DOWN
13 DPAD_LEFT
14 DPAD_RIGHT
15 MISC1 (Depends on the controller manufacturer, but is usually at a similar location on the controller as back/start)
16 PADDLE1 (Upper left, facing the back of the controller if present)
17 PADDLE2 (Upper right, facing the back of the controller if present)
18 PADDLE3 (Lower left, facing the back of the controller if present)
19 PADDLE4 (Lower right, facing the back of the controller if present)
20 TOUCHPAD (If present. Button status only)
Index Axis
0 LEFTX
1 LEFTY
2 RIGHTX
3 RIGHTY
4 TRIGGERLEFT
5 TRIGGERRIGHT

For joy_node run ros2 run joy joy_node in one terminal and ros2 topic echo /joy in another. Pressing buttons and moving sticks can be used to determine at which location they appear in "sensor_msgs/msg/Joy".

Supported Hardware

This nodes should work with any joystick or game controller that is supported by SDL.

Published Topics

Subscribed Topics

Parameters

  • device_id (int, default: 0)

    • The joystick device to use. ros2 run joy joy_enumerate_devices wil list the attached devices.
  • device_name (string, default: "")

    • The joystick name to use. This can be useful when multiple different joysticks are attached. If both device_name and device_id are specified, device_name takes precedence.
  • deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value.
  • autorepeat_rate (double, default: 20.0)

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message. If set to 0.0, autorepeat will be disabled, meaning joy messages will only be published when the joystick changes. Cannot be larger than 1000.0.
  • sticky_buttons (bool, default: false)

    • Whether buttons are "sticky". If this is false (the default), then a button press will result in a 1 being output, and a button release will result in a 0 being output. If this is true, then a button press will toggle the current state of the button, and a button release will do nothing. Thus, hitting the button while it is currently 0 will switch it to 1, and keep it at 1 until the button is pressed again.
  • coalesce_interval_ms (int, default: 1)

    • The number of milliseconds to wait after an axis event before publishing a message. Since the kernel sends an event for every change, this can significantly reduce the number of messages published. Setting it to 0 disables this behavior. The default of 1 ms is a good compromise between message delays and number of messages published.

Technical note about interfacing with joysticks and game controllers on Linux

On Linux there are two different ways to interface with a joystick. The distinction only makes a difference when attempting to pass through the device into a container or virtual machine. The first interface is via the joystick driver subsystem, which generally shows up as a device in /dev/input/js0 (or other numbers at the end). This is the way that the "joy_linux" package accesses the joystick. The second way to interface is through the generic event subsystem, which generally shows up as /dev/input/event7 (or other numbers at the end). This is the way that SDL (and hence this "joy" package) accesses the joysticks.

CHANGELOG

Changelog for package joy

3.3.0 (2023-10-31)

  • Fix compatibility with SDL versions below 2.0.18 (#273)
  • Contributors: Johannes Meyer

3.2.0 (2023-10-10)

  • Remove ament target deps for the new game_controller node. (#272)
  • Use the SDL2 Game Controller API (#258)
  • fix autorepeat not being triggered when inside deadzone (#261)
  • Linter fix.
  • fix high CPU usage (#247)
  • Contributors: Chris Lalancette, Joshua Whitley, Marco Boneberger, Roderick Taylor, Tony Najjar

3.1.0 (2022-01-28)

  • Install includes to include/ and misc CMake fixes (#225)
  • Style fixes for newer cpplint.
  • Contributors: Chris Lalancette, Shane Loretz

3.0.1 (2022-01-28)

  • Override device_id when device_name is provided. (#199) (#211)
  • Contributors: Tiger Sachse

3.0.0 (2021-03-12)

  • Fix SDL2 include path (#196)
  • Contributors: Scott K Logan

2.4.1 (2020-05-13)

  • Small fixes for uncrustify on Foxy. (#171)
  • Contributors: Chris Lalancette

2.4.0 (2020-05-12)

  • Cross platform joystick support for ROS 2 (#157)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master
  • Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Zihan Chen

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 3.3.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version ros2
Last Updated 2024-01-04
Dev Status MAINTAINED
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

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren
  • Rod Taylor

ROS 2 Driver for Generic Joysticks and Game Controllers

The joy package contains joy_node, and game_controller node which interface generic joysticks and game controllers to ROS 2. These nodes publish "sensor_msgs/msg/Joy" messages, which contain the state of the devices button and axes. Examples of game controllers are ones that come with recently released game consoles and their after market clones.

The game_controller_node uses SDL2's built device mapping database to give buttons and axes a consistent order in the "sensor_msgs/msg/Joy". Custom mappings can also be supplied using SDL's SDL_GAMECONTROLLERCONFIG environment variable. A third party tool can be used to create the mapping string. The joy_node supports both joysticks and game controllers but the order that buttons and axes appear with the message will dependend on the manufacturer of the device.

For game_controller_node the following tables detail the indexes of buttons and axes.

Index Button
0 A (CROSS)
1 B (CIRCLE)
2 X (SQUARE)
3 Y (TRIANGLE)
4 BACK (SELECT)
5 GUIDE (Middle/Manufacturer Button)
6 START
7 LEFTSTICK
8 RIGHTSTICK
9 LEFTSHOULDER
10 RIGHTSHOULDER
11 DPAD_UP
12 DPAD_DOWN
13 DPAD_LEFT
14 DPAD_RIGHT
15 MISC1 (Depends on the controller manufacturer, but is usually at a similar location on the controller as back/start)
16 PADDLE1 (Upper left, facing the back of the controller if present)
17 PADDLE2 (Upper right, facing the back of the controller if present)
18 PADDLE3 (Lower left, facing the back of the controller if present)
19 PADDLE4 (Lower right, facing the back of the controller if present)
20 TOUCHPAD (If present. Button status only)
Index Axis
0 LEFTX
1 LEFTY
2 RIGHTX
3 RIGHTY
4 TRIGGERLEFT
5 TRIGGERRIGHT

For joy_node run ros2 run joy joy_node in one terminal and ros2 topic echo /joy in another. Pressing buttons and moving sticks can be used to determine at which location they appear in "sensor_msgs/msg/Joy".

Supported Hardware

This nodes should work with any joystick or game controller that is supported by SDL.

Published Topics

Subscribed Topics

Parameters

  • device_id (int, default: 0)

    • The joystick device to use. ros2 run joy joy_enumerate_devices wil list the attached devices.
  • device_name (string, default: "")

    • The joystick name to use. This can be useful when multiple different joysticks are attached. If both device_name and device_id are specified, device_name takes precedence.
  • deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value.
  • autorepeat_rate (double, default: 20.0)

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message. If set to 0.0, autorepeat will be disabled, meaning joy messages will only be published when the joystick changes. Cannot be larger than 1000.0.
  • sticky_buttons (bool, default: false)

    • Whether buttons are "sticky". If this is false (the default), then a button press will result in a 1 being output, and a button release will result in a 0 being output. If this is true, then a button press will toggle the current state of the button, and a button release will do nothing. Thus, hitting the button while it is currently 0 will switch it to 1, and keep it at 1 until the button is pressed again.
  • coalesce_interval_ms (int, default: 1)

    • The number of milliseconds to wait after an axis event before publishing a message. Since the kernel sends an event for every change, this can significantly reduce the number of messages published. Setting it to 0 disables this behavior. The default of 1 ms is a good compromise between message delays and number of messages published.

Technical note about interfacing with joysticks and game controllers on Linux

On Linux there are two different ways to interface with a joystick. The distinction only makes a difference when attempting to pass through the device into a container or virtual machine. The first interface is via the joystick driver subsystem, which generally shows up as a device in /dev/input/js0 (or other numbers at the end). This is the way that the "joy_linux" package accesses the joystick. The second way to interface is through the generic event subsystem, which generally shows up as /dev/input/event7 (or other numbers at the end). This is the way that SDL (and hence this "joy" package) accesses the joysticks.

CHANGELOG

Changelog for package joy

3.3.0 (2023-10-31)

  • Fix compatibility with SDL versions below 2.0.18 (#273)
  • Contributors: Johannes Meyer

3.2.0 (2023-10-10)

  • Remove ament target deps for the new game_controller node. (#272)
  • Use the SDL2 Game Controller API (#258)
  • fix autorepeat not being triggered when inside deadzone (#261)
  • Linter fix.
  • fix high CPU usage (#247)
  • Contributors: Chris Lalancette, Joshua Whitley, Marco Boneberger, Roderick Taylor, Tony Najjar

3.1.0 (2022-01-28)

  • Install includes to include/ and misc CMake fixes (#225)
  • Style fixes for newer cpplint.
  • Contributors: Chris Lalancette, Shane Loretz

3.0.1 (2022-01-28)

  • Override device_id when device_name is provided. (#199) (#211)
  • Contributors: Tiger Sachse

3.0.0 (2021-03-12)

  • Fix SDL2 include path (#196)
  • Contributors: Scott K Logan

2.4.1 (2020-05-13)

  • Small fixes for uncrustify on Foxy. (#171)
  • Contributors: Chris Lalancette

2.4.0 (2020-05-12)

  • Cross platform joystick support for ROS 2 (#157)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master
  • Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Zihan Chen

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.15.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version main
Last Updated 2023-09-18
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.15.1 (2021-06-07)

1.15.0 (2020-10-12)

  • Added autodetection for force-feedback devices. (#169)
    • Added autodetection for force-feedback devices.
    • RAII for closedir
  • joy: Little fixes for force feedback. (#167) This commit increases the maximum magnitude of the FF effects to double the previous maximum.
  • Print out joystick name on initialization. (#168) This helps figuring out what string to give to the [dev_name]{.title-ref} parameter.
  • Contributors: Martin Pecka

1.14.0 (2020-07-07)

  • frame_id in the header of the joystick msg (#166)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups ROS1 joy cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Mamoun Gharbi, Zihan Chen

1.13.0 (2019-06-24)

  • Merge pull request #120 from furushchev/remap add joy_remap and its sample
  • Merge pull request #128 from ros-drivers/fix/tab_errors Cleaning up Python indentation.
  • Merge pull request #111 from matt-attack/indigo-devel Add Basic Force Feedback Support
  • Merge pull request #126 from clalancette/minor-formatting
  • Put brackets around ROS_* macros. In some circumstances they may be defined to empty, so we need to have brackets to ensure that they are syntactically valid. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
  • Merge pull request #122 from lbucklandAS/fix-publish-timestamp Add timestamp to all joy messages
  • Change error messages and set ps3 as default controller
  • Better handle device loss Allow for loss and redetection of device with force feedback
  • Add basic force feedback over usb Addresses #89
  • Contributors: Chris Lalancette, Furushchev, Joshua Whitley, Lucas Buckland, Matthew, Matthew Bries

1.12.0 (2018-06-11)

  • Update timestamp when using autorepeat_rate
  • Added dev_name parameter to select joystick by name
  • Added Readme for joy package with description of new device name parameter
  • Fixed numerous outstanding PRs.
  • Added sticky buttons
  • Changed package xml to format 2
  • Fixed issue when the joystick data did not got send until changed.
  • Changed messaging to better reflect what the script is doing
  • Contributors: Dino H

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/joystick_drivers.git
VCS Type git
VCS Version ardent
Last Updated 2017-12-09
Dev Status MAINTAINED
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

ROS2 driver for a generic Linux joystick. Will contain a MacOS and Windows version later. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Mikael Arguedas

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren
README
No README found. No README in repository either.
CHANGELOG

Changelog for package joy

1.11.0 (2017-02-10)

  • fixed joy/Cmakelists for osx
  • Update dependencies to remove warnings
  • Contributors: Marynel Vazquez, Mark D Horn

1.10.1 (2015-05-24)

  • Remove stray architechture_independent flags
  • Contributors: Jonathan Bohren, Scott K Logan

1.10.0 (2014-06-26)

  • First indigo release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/joystick_drivers.git
VCS Type git
VCS Version bouncy
Last Updated 2018-06-26
Dev Status MAINTAINED
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

ROS2 driver for a generic Linux joystick. Will contain a MacOS and Windows version later. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Mikael Arguedas

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

2.1.0 (2018-06-26)

  • fixups after rebase
  • 2.0.0
  • Fix joystick driver to work with recent changes to rclcpp::Time. (#4) * Fix joystick driver to work with recent changes to rclcpp::Time. Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org> * Move creation of time source outside of loop. Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>

  • Switch to using the RCUTILS_* macros. (#3) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

  • Move from bin to lib. (#2) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

  • set autorepeat_rate to 20

  • remove ROS1 specific files convert package.xml and cmakelists to ROS2 update licence don\'t lint ported code (and dont make it comply with pedantic) comment out diagnostic code and replace ROS1 calls with ROS2 calls use a rclcpp wall timer rather than a sleep fail if joystick.h not found

  • rename joy_node to joy_node_linux

  • Merge pull request #108 from hdino/indigo-devel Added dev_name parameter to select joystick by name

  • Changed layout of README.md

  • Added Readme for joy package with description of new device name parameter

  • Added dev_name parameter to select joystick by name

  • Merge pull request #107 from honeybee-robotics-forks/indigo-devel Numerous outstanding PRs.

  • Added sticky buttons Fixed indentation Added CI config Added sticky buttons Changed messaging to better reflect what the script is doing Added wiimote testing script Changed package xml to format 2 Fixed Indentation Fixed indentation Cleaned up code block Editted argc check block Removed unnesesary comment Formatted conditional block Fixed small errors Added comments decribing variables Removed blank line Fixed formatting issues Add CI config. Add CI config.

  • Fixed issue when the joystick data did not got send until changed. Made the fix to error 91 an optional behavior

  • Changed package xml to format 2

  • Changed messaging to better reflect what the script is doing Fixed minor string error Changed tabs to spaces

  • Contributors: Chris Lalancette, Dino H

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.3.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/joystick_drivers.git
VCS Type git
VCS Version ros2
Last Updated 2019-05-21
Dev Status MAINTAINED
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

ROS2 driver for a generic Linux joystick. Will contain a MacOS and Windows version later. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

2.3.0 (2019-05-20)

  • Added LICENSE file. (#10)
  • Contributors: M. M

1.12.0 (2018-06-11)

  • Update timestamp when using autorepeat_rate
  • Added dev_name parameter to select joystick by name
  • Added Readme for joy package with description of new device name parameter
  • Fixed numerous outstanding PRs.
  • Added sticky buttons
  • Changed package xml to format 2
  • Fixed issue when the joystick data did not got send until changed.
  • Changed messaging to better reflect what the script is doing
  • Contributors: Dino H

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

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.3.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/joystick_drivers.git
VCS Type git
VCS Version dashing
Last Updated 2019-05-31
Dev Status MAINTAINED
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

ROS2 driver for a generic Linux joystick. Will contain a MacOS and Windows version later. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.12.0 (2018-06-11)

  • Update timestamp when using autorepeat_rate
  • Added dev_name parameter to select joystick by name
  • Added Readme for joy package with description of new device name parameter
  • Fixed numerous outstanding PRs.
  • Added sticky buttons
  • Changed package xml to format 2
  • Fixed issue when the joystick data did not got send until changed.
  • Changed messaging to better reflect what the script is doing
  • Contributors: Dino H

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.3.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/joystick_drivers.git
VCS Type git
VCS Version dashing
Last Updated 2019-05-31
Dev Status MAINTAINED
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

ROS2 driver for a generic Linux joystick. Will contain a MacOS and Windows version later. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.12.0 (2018-06-11)

  • Update timestamp when using autorepeat_rate
  • Added dev_name parameter to select joystick by name
  • Added Readme for joy package with description of new device name parameter
  • Fixed numerous outstanding PRs.
  • Added sticky buttons
  • Changed package xml to format 2
  • Fixed issue when the joystick data did not got send until changed.
  • Changed messaging to better reflect what the script is doing
  • Contributors: Dino H

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 3.0.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version foxy-devel
Last Updated 2022-02-14
Dev Status MAINTAINED
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

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren

ROS 2 Driver for Generic Joysticks

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "sensor_msgs/msg/Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by SDL.

Published Topics

Subscribed Topics

Parameters

  • device_id (int, default: 0)

    • The joystick device to use.
  • device_name (string, default: "")

    • The joystick name to use. This can be useful when multiple different joysticks are attached. If both device_name and device_id are specified, device_name takes precedence.
  • deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value.
  • autorepeat_rate (double, default: 20.0)

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message. If set to 0.0, autorepeat will be disabled, meaning joy messages will only be published when the joystick changes. Cannot be larger than 1000.0.
  • sticky_buttons (bool, default: false)

    • Whether buttons are "sticky". If this is false (the default), then a button press will result in a 1 being output, and a button release will result in a 0 being output. If this is true, then a button press will toggle the current state of the button, and a button release will do nothing. Thus, hitting the button while it is currently 0 will switch it to 1, and keep it at 1 until the button is pressed again.
  • coalesce_interval_ms (int, default: 1)

    • The number of milliseconds to wait after an axis event before publishing a message. Since the kernel sends an event for every change, this can significantly reduce the number of messages published. Setting it to 0 disables this behavior. The default of 1 ms is a good compromise between message delays and number of messages published.

Technical note about interfacing with the joystick on Linux

On Linux there are two different ways to interface with a joystick. The distinction only makes a difference when attempting to pass through the device into a container or virtual machine. The first interface is via the joystick driver subsystem, which generally shows up as a device in /dev/input/js0 (or other numbers at the end). This is the way that the "joy_linux" package accesses the joystick. The second way to interface is through the generic event subsystem, which generally shows up as /dev/input/event7 (or other numbers at the end). This is the way that SDL (and hence this "joy" package) accesses the joysticks.

CHANGELOG

Changelog for package joy

3.0.1 (2022-01-28)

  • Override device_id when device_name is provided. (#199) (#211)
  • Contributors: Tiger Sachse

3.0.0 (2021-03-12)

  • Fix SDL2 include path (#196)
  • Contributors: Scott K Logan

2.4.1 (2020-05-13)

  • Small fixes for uncrustify on Foxy. (#171)
  • Contributors: Chris Lalancette

2.4.0 (2020-05-12)

  • Cross platform joystick support for ROS 2 (#157)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master
  • Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Zihan Chen

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 3.0.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version foxy-devel
Last Updated 2022-02-14
Dev Status MAINTAINED
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

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Chris Lalancette

Authors

  • Mikael Arguedas
  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
  • Jonathan Bohren

ROS 2 Driver for Generic Joysticks

The joy package contains joy_node, a node that interfaces a generic joystick to ROS 2. This node publishes a "sensor_msgs/msg/Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by SDL.

Published Topics

Subscribed Topics

Parameters

  • device_id (int, default: 0)

    • The joystick device to use.
  • device_name (string, default: "")

    • The joystick name to use. This can be useful when multiple different joysticks are attached. If both device_name and device_id are specified, device_name takes precedence.
  • deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value.
  • autorepeat_rate (double, default: 20.0)

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message. If set to 0.0, autorepeat will be disabled, meaning joy messages will only be published when the joystick changes. Cannot be larger than 1000.0.
  • sticky_buttons (bool, default: false)

    • Whether buttons are "sticky". If this is false (the default), then a button press will result in a 1 being output, and a button release will result in a 0 being output. If this is true, then a button press will toggle the current state of the button, and a button release will do nothing. Thus, hitting the button while it is currently 0 will switch it to 1, and keep it at 1 until the button is pressed again.
  • coalesce_interval_ms (int, default: 1)

    • The number of milliseconds to wait after an axis event before publishing a message. Since the kernel sends an event for every change, this can significantly reduce the number of messages published. Setting it to 0 disables this behavior. The default of 1 ms is a good compromise between message delays and number of messages published.

Technical note about interfacing with the joystick on Linux

On Linux there are two different ways to interface with a joystick. The distinction only makes a difference when attempting to pass through the device into a container or virtual machine. The first interface is via the joystick driver subsystem, which generally shows up as a device in /dev/input/js0 (or other numbers at the end). This is the way that the "joy_linux" package accesses the joystick. The second way to interface is through the generic event subsystem, which generally shows up as /dev/input/event7 (or other numbers at the end). This is the way that SDL (and hence this "joy" package) accesses the joysticks.

CHANGELOG

Changelog for package joy

3.0.1 (2022-01-28)

  • Override device_id when device_name is provided. (#199) (#211)
  • Contributors: Tiger Sachse

3.0.0 (2021-03-12)

  • Fix SDL2 include path (#196)
  • Contributors: Scott K Logan

2.4.1 (2020-05-13)

  • Small fixes for uncrustify on Foxy. (#171)
  • Contributors: Chris Lalancette

2.4.0 (2020-05-12)

  • Cross platform joystick support for ROS 2 (#157)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master
  • Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Zihan Chen

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.11.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-07
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.11.0 (2017-02-10)

  • fixed joy/Cmakelists for osx
  • Update dependencies to remove warnings
  • Contributors: Marynel Vazquez, Mark D Horn

1.10.1 (2015-05-24)

  • Remove stray architechture_independent flags
  • Contributors: Jonathan Bohren, Scott K Logan

1.10.0 (2014-06-26)

  • First indigo release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.11.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-07
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.11.0 (2017-02-10)

  • fixed joy/Cmakelists for osx
  • Update dependencies to remove warnings
  • Contributors: Marynel Vazquez, Mark D Horn

1.10.1 (2015-05-24)

  • Remove stray architechture_independent flags
  • Contributors: Jonathan Bohren, Scott K Logan

1.10.0 (2014-06-26)

  • First indigo release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.11.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-07
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.11.0 (2017-02-10)

  • fixed joy/Cmakelists for osx
  • Update dependencies to remove warnings
  • Contributors: Marynel Vazquez, Mark D Horn

1.10.1 (2015-05-24)

  • Remove stray architechture_independent flags
  • Contributors: Jonathan Bohren, Scott K Logan

1.10.0 (2014-06-26)

  • First indigo release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
joystick

Dependant Packages

Name Repo Deps
cob_bringup github-ipa320-cob_robots
husky_control github-husky-husky
jackal_control github-jackal-jackal
joystick_drivers github-ros-drivers-joystick_drivers
tra1_moveit_config github-tork-a-minas
mrp2_control github-milvusrobotics-mrp2_common
mrp2_bringup github-milvusrobotics-mrp2_robot
pr2_bringup github-pr2-pr2_robot
ridgeback_control github-ridgeback-ridgeback
rotors_gazebo github-ethz-asl-rotors_simulator
safe_teleop_pr2 github-SharedAutonomyToolkit-shared_autonomy_manipulation
safe_teleop_stage github-SharedAutonomyToolkit-shared_autonomy_manipulation
teleop_twist_joy github-ros-teleop-teleop_twist_joy
warthog_control github-warthog-cpr-warthog
yocs_joyop github-yujinrobot-yujin_ocs
bebop_tools github-AutonomyLab-bebop_autonomy
ca_tools github-AutonomyLab-create_autonomy
demo_pioneer github-lagadic-demo_pioneer
grizzly_teleop github-g-grizzly
hector_quadrotor_teleop github-tu-darmstadt-ros-pkg-hector_quadrotor
puma_motor_driver github-clearpathrobotics-puma_motor_driver
roch_teleop github-SawYer-Robotics-roch
roch_control github-SawYer-Robotics-roch_robot
roomblock_bringup github-tork-a-roomblock
turtlebot_teleop github-turtlebot-turtlebot
bwi_joystick_teleop github-utexas-bwi-bwi_common
jsk_baxter_startup github-jsk-ros-pkg-jsk_robot
jsk_fetch_startup github-jsk-ros-pkg-jsk_robot
jsk_pepper_startup github-jsk-ros-pkg-jsk_robot
jsk_pr2_startup github-jsk-ros-pkg-jsk_robot
maxwell_defs github-mikeferguson-maxwell
nao_teleop github-ros-naoqi-nao_extras
carl_teleop github-GT-RAIL-carl_bot
cirkit_unit03_driver github-CIR-KIT-Unit03-cirkit_unit03_robot
icart_mini_driver github-open-rdc-icart_mini
innok_heros_control github-innokrobotics-innok_heros_control
gazebo_drive_simulator github-jsk-ros-pkg-jsk_demos
raptor_dbw_joystick_demo github-NewEagleRaptor-pacifica-dbw-ros
raptor_dbw_joystick_speed_demo github-NewEagleRaptor-pacifica-dbw-ros
spur_bringup github-tork-a-spur

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.9.10
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-07-01
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend
README
No README found. No README in repository either.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.11.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-07
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.11.0 (2017-02-10)

  • fixed joy/Cmakelists for osx
  • Update dependencies to remove warnings
  • Contributors: Marynel Vazquez, Mark D Horn

1.10.1 (2015-05-24)

  • Remove stray architechture_independent flags
  • Contributors: Jonathan Bohren, Scott K Logan

1.10.0 (2014-06-26)

  • First indigo release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
joystick

Dependant Packages

Name Repo Deps
caster_teleop github-I-Quotient-Robotics-caster
cob_bringup github-ipa320-cob_robots
crane_x7_examples github-rt-net-crane_x7_ros
dbw_fca_joystick_demo bitbucket-DataspeedInc-dbw_fca_ros
dbw_mkz_joystick_demo bitbucket-dataspeedinc-dbw_mkz_ros
husky_control github-husky-husky
jackal_control github-jackal-jackal
joystick_drivers github-ros-drivers-joystick_drivers
leo_teleop github-LeoRover-leo_common
tra1_moveit_config github-tork-a-minas
moose_control github-moose-cpr-moose
moveit_tutorials github-ros-planning-moveit_tutorials
pr2_bringup github-pr2-pr2_robot
raptor_dbw_joystick_demo github-NewEagleRaptor-raptor-dbw-ros
raptor_dbw_joystick_speed_demo github-NewEagleRaptor-raptor-dbw-ros
ridgeback_control github-ridgeback-ridgeback
rr_openrover_driver github-RoverRobotics-rr_openrover_stack
seed_r7_navigation github-seed-solutions-seed_r7_ros_pkg
safe_teleop_pr2 github-SharedAutonomyToolkit-shared_autonomy_manipulation
safe_teleop_stage github-SharedAutonomyToolkit-shared_autonomy_manipulation
talos_bringup github-pal-robotics-talos_robot
teleop_twist_joy github-ros-teleop-teleop_twist_joy
uuv_teleop github-uuvsimulator-uuv_simulator
warthog_control github-warthog-cpr-warthog
yocs_joyop github-yujinrobot-yujin_ocs
bebop_tools github-AutonomyLab-bebop_autonomy
ca_tools github-AutonomyLab-create_autonomy
demo_pioneer github-lagadic-demo_pioneer
hector_quadrotor_teleop github-tu-darmstadt-ros-pkg-hector_quadrotor
jaguar_control github-gstavrinos-jaguar
jog_arm github-UTNuclearRoboticsPublic-jog_arm
jog_controller github-tork-a-jog_control
loki_teleop github-UbiquityRobotics-loki_robot
magni_teleop github-UbiquityRobotics-magni_robot
modelica_bridge github-ModROS-modelica_bridge
puma_motor_driver github-clearpathrobotics-puma_motor_driver
rb1_base_pad github-RobotnikAutomation-rb1_base_common
roch_teleop github-SawYer-Robotics-roch
roch_control github-SawYer-Robotics-roch_robot
roomblock_bringup github-tork-a-roomblock
summit_xl_pad github-RobotnikAutomation-summit_xl_common
svenzva_joy github-SvenzvaRobotics-svenzva_ros
turtlebot_teleop github-turtlebot-turtlebot
xarm_moveit_servo github-xArm-Developer-xarm_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joy at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.14.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/joystick_drivers.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-07-19
Dev Status MAINTAINED
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

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Additional Links

Maintainers

  • Jonathan Bohren

Authors

  • Morgan Quigley
  • Brian Gerkey
  • Kevin Watts
  • Blaise Gassend

ROS Driver for Generic Linux Joysticks

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Supported Hardware

This node should work with any joystick that is supported by Linux.

Published Topics

Device Selection

There are two parameters controlling which device should be used:

  • ~dev (string, default: "/dev/input/js0")
  • ~dev_name (string, default: "" (empty = disabled))

If ~dev_name is empty, ~dev defines the Linux joystick device from which to read joystick events.

If ~dev_name is defined, the node enumerates all available joysticks, i.e. /dev/input/js*. The first joystick matching ~dev_name is opened. If no joystick matches the desired device name, the device specified by ~dev is used as a fallback.

To get a list of the names of all connected joysticks, an invalid ~dev_name can be specified. For example:

rosrun joy joy_node _dev_name:="*"

The output might look like this:

[ INFO]: Found joystick: ST LIS3LV02DL Accelerometer (/dev/input/js1).
[ INFO]: Found joystick: Microsoft X-Box 360 pad (/dev/input/js0).
[ERROR]: Couldn't find a joystick with name *. Falling back to default device.

Then the node can be started with the device name given in the list. For example:

rosrun joy joy_node _dev_name:="Microsoft X-Box 360 pad"

Advanced Parameters

  • ~deadzone (double, default: 0.05)

    • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
  • ~autorepeat_rate (double, default: 0.0 (disabled))

    • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
  • ~coalesce_interval (double, default: 0.001)

    • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Further Information

For further information have a look at the Wiki page.

CHANGELOG

Changelog for package joy

1.14.0 (2020-07-07)

  • frame_id in the header of the joystick msg (#166)
  • roslint and Generic Clean-Up (#161)
  • Merge pull request #158 from clalancette/ros1-cleanups ROS1 joy cleanups
  • Greatly simplify the sticky_buttons support.
  • Small fixes to rumble support.
  • Use C++ style casts.
  • Use empty instead of length.
  • joy_def_ff -> joy_dev_ff
  • Cleanup header includes.
  • Use size_t appropriately.
  • NULL -> nullptr everywhere.
  • Style cleanup in joy_node.cpp.
  • Merge pull request #154 from zchen24/master Minor: moved default to right indent level
  • Contributors: Chris Lalancette, Joshua Whitley, Mamoun Gharbi, Zihan Chen

1.13.0 (2019-06-24)

  • Merge pull request #120 from furushchev/remap add joy_remap and its sample
  • Merge pull request #128 from ros-drivers/fix/tab_errors Cleaning up Python indentation.
  • Merge pull request #111 from matt-attack/indigo-devel Add Basic Force Feedback Support
  • Merge pull request #126 from clalancette/minor-formatting
  • Put brackets around ROS_* macros. In some circumstances they may be defined to empty, so we need to have brackets to ensure that they are syntactically valid. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
  • Merge pull request #122 from lbucklandAS/fix-publish-timestamp Add timestamp to all joy messages
  • Change error messages and set ps3 as default controller
  • Better handle device loss Allow for loss and redetection of device with force feedback
  • Add basic force feedback over usb Addresses #89
  • Contributors: Chris Lalancette, Furushchev, Joshua Whitley, Lucas Buckland, Matthew, Matthew Bries

1.12.0 (2018-06-11)

  • Update timestamp when using autorepeat_rate
  • Added dev_name parameter to select joystick by name
  • Added Readme for joy package with description of new device name parameter
  • Fixed numerous outstanding PRs.
  • Added sticky buttons
  • Changed package xml to format 2
  • Fixed issue when the joystick data did not got send until changed.
  • Changed messaging to better reflect what the script is doing
  • Contributors: Dino H

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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