No version for distro humble showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro jazzy showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro kilted showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro rolling showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro ardent showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro bouncy showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro crystal showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro eloquent showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro dashing showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro galactic showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro foxy showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro iron showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro jade showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro indigo showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro hydro showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro kinetic showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
melodic

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange

No version for distro noetic showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

pacmod_game_control package from pacmod_game_control repo

pacmod_game_control

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 4.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/astuff/pacmod_game_control.git
VCS Type git
VCS Version master
Last Updated 2021-10-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Package for controlling the AStuff PACMod with a Joystick

Additional Links

Maintainers

  • AutonomouStuff Software Development Team

Authors

  • Joe Driscoll

PACMod Game Controller

CircleCI

This ROS package provides software for controlling a PACMod system using a game controller. The pacmod_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod3 ROS driver to control the PACMod.

Installation

Note: Previously pacmod_game_control was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS1 Noetic and ROS2:

Install pacmod_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod-game-control

ROS1 Melodic or older

sudo apt install ros-$ROS_DISTRO-pacmod-game-control

Controls

Supported Controllers

The currently supported controllers are:

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between “X” and “D”. Ensure the switch is always set to “X”. In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

In the event that you want to add support for a new controller: Update controllers.h to add a class for your new controller and specify the button and axes mapping. Override any functions that are be different from the default control scheme.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action Button Notes
Enable/Disable Center region  
Enable BACK and START Buttons must be pressed simultaneously to enable by-wire mode
Disable BACK button must be pressed to disable by-wire mode.
Gear Selection Button Pad (right-hand side)  
Drive A  
Reverse B  
Neutral X  
Park Y  
Steering Joystick  
Steering Left Joystick  
Brake Left Trigger  
Throttle Right Trigger  
Windsheild Wipers Left Bumper Not supported by all vehicle platforms
Horn Right Bumper Not supported by all vehicle platforms
Headlights and Turn Signals Directional Pad (left-hand side)  
Left turn signal Left  
Right turn signal Right  
Headlights Up Not supported by all vehicle platforms
Hazards Down Not supported by all vehicle platforms

ROS API

Launch Arguments

  • launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod_game_control node. Defaults to false.
  • pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
  • controller_type: Use this to set your controller type. See launch file for available options.
  • steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
  • max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
  • accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
  • brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
  • use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
  • pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
  • pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
  • pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
CHANGELOG

Changelog for package pacmod_game_control

4.0.0 (2021-10-06)

  • Update README (#103)
  • Final Refactor/Cleanup for Noetic Release (#102)
  • Update to pacmod3_msgs (#98)
  • Remove kinetic and melodic CI testing (#100)
  • Remove lexus-specific brake curve (#97)
  • Remove some vehicle-specific code in favour of dynamic detection of aux APIs (#94)
  • Remove parameter to select which stick does steering (#91)
  • Simplify parameter loading (#95)
  • Controller Abstraction (#90)
  • Refactor (#87)
  • Update launch files (#84)
  • Consolidate control board code (#83)
  • Add supported controllers to the README, add note about X|D switch (#79)
  • Remaps FORT remote for ease of use. #78 from astuff/fort_remote_improvements
  • Maint/update readme #74 from astuff/maint/update_readme
  • removed incorrect info
  • added driver versions used for vehicles
  • Maint/add img #73 from astuff/maint/add_img
  • Adding noetic build to CI. #71 from astuff/maint/add_noetic_build
  • added controller description
  • fix shift command #69 from astuff/maint/p2_shift
  • Contributors: Amruta Mhaske, Sneha Ganesh, amrutamhaske, bjansky, cullenstoneAS, icolwell-as

3.0.1 (2020-02-05)

  • Merge pull request #68 from astuff/fix/shift_low_bug changed from shift low on button press to shift high on button press
  • Merge pull request #67 from astuff/feature/removing_enums_and_using_ROS_message__values_instead Feature/removing enums and using ros message values instead
  • Merge pull request #64 from astuff/freightliner_cascadia Adding Freightliner Cascadia DD13 Trucks
  • Merge pull request #65 from astuff/feature/door_system adding DoorSystem
  • Adding JUPITER_SPIRIT Vehicle
  • Merge pull request #61 from astuff/fix/speed_limit Fix/speed limit - clipped steer rate limit
  • Merge pull request #60 from astuff/maint/ci_remove_lunar CI: Removing Lunar build.
  • Merge pull request #59 from astuff/fix/lexus_G29 made changes to lexus max steer rotation(vehicle_2) and changes so that G29 steering wheel is functional
  • Merge pull request #58 from astuff/fix/veh_5_headlights Updated veh_5 headlight states to match current firmware
  • Merge pull request #55 from astuff/ranger Polaris Ranger support.
  • CI: Removing Indigo build.
  • Fixed HRI accel command max was limiting to 0.6
  • Contributors: Amruta Mhaske, Benjamin Jansky, Chris, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Mike Lemm, Rinda Gunjala, Sneha Ganesh

2.3.0 (2018-12-12)

  • Merge pull request #54 from astuff/maint/hri_remap_part_two
  • A comment explaining the axes

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pacmod_game_control.launch
      • launch_driver [default: false]
      • use_socketcan [default: false]
      • pacmod_can_hardware_id [default: 43029]
      • pacmod_can_circuit_id [default: 0]
      • pacmod_socketcan_device [default: can0]
      • pacmod_vehicle_type [default: LEXUS_RX_450H]
      • controller_type [default: LOGITECH_F310]
      • steering_max_speed [default: 3.3]
      • accel_scale_val [default: 1.0]
      • brake_scale_val [default: 1.0]
      • max_veh_speed [default: 11.176]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pacmod_game_control at Robotics Stack Exchange