raspimouse_ros2_examples

ROS 2 examples for Raspberry Pi Mouse.

ROS1 examples is here.

To run on Gazebo, click here.

<img src=https://rt-net.github.io/images/raspberry-pi-mouse/raspberry_pi_mouse.JPG width=500 />

Supported ROS 2 distributions

• Humble
• Jazzy (This branch)

Requirements

• Raspberry Pi Mouse
  • https://rt-net.jp/products/raspberrypimousev3/
  • Linux OS
    • Ubuntu server 24.04
  • Device Driver
    • rt-net/RaspberryPiMouse
  • ROS
    • Jazzy Jalisco
  • Raspberry Pi Mouse ROS 2 package
    • https://github.com/rt-net/raspimouse2
• Remote Computer (Optional)
  • ROS
    • Jazzy Jalisco
  • Raspberry Pi Mouse ROS 2 package
    • https://github.com/rt-net/raspimouse2

Installation

$ cd ~/ros2_ws/src
# Clone package
$ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git

# Install dependencies
$ rosdep install -r -y --from-paths . --ignore-src

# Build & Install
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ source ~/ros2_ws/install/setup.bash

License

This repository is licensed under the Apache 2.0, see LICENSE for details.

How To Use Examples

• joystick_control
• object_tracking
• line_follower
• camera_line_follower
• SLAM
• direction_controller

joystick_control

This is an example to use joystick controller to control a Raspberry Pi Mouse.

Requirements

• Joystick Controller
  • Logicool Wireless Gamepad F710
  • SONY DUALSHOCK 3

How to use

Launch nodes with the following command:

# Use F710
$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=true

# Use DUALSHOCK 3
$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=dualshock3 mouse:=true

# Control from remote computer
## on RaspberryPiMouse
$ ros2 run raspimouse raspimouse
## on remote computer
$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py mouse:=false

This picture shows the default key configuration.

To use Logicool Wireless Gamepad F710, set the input mode to D (DirectInput Mode).

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Changelog for package raspimouse_ros2_examples

3.0.0 (2024-11-25) -----------* Support ROS 2 Jazzy (#62) * Replaced "Twist" with "TwistStamped" * Contributors: Kazushi Kurasawa, YusukeKato

2.2.1 (2024-08-28)

• サービスクライアントでexecutorを使用しない (#59)
• SubscriberとService Clientに別々のcallback_groupを設定 (#58)
• Contributors: ShotaAk, YusukeKato

2.2.0 (2024-03-05)

• READMEにSLAM&Navigationパッケージの案内を追加 (#53)
• Camera_FollowerクラスをCameraFollowerに変更 (#52)
• Update camera line follower: Set motor power with switch input. Add area_threthold param. (#51)
• Add velocity parameters for camera_line_follower (#50)
• カメラライントレースを修正 (#49)
• Change threthold of line detection
• Add usb_cam dependency (#48)
• RGBカメラによるライントレースの実装 (#47)
• リリースのためにCHANGELOG.rstとpackage.xmlを更新 (#45)
• Contributors: Shota Aoki, ShotaAk, YusukeKato

2.1.0 (2023-11-07)

• READMEにGazeboでも実行できることを追記 (#44)
• object_trackingにおいて画像トピックをサブスクライブするように変更 (#43)
• Contributors: YusukeKato

2.0.0 (2023-08-03)

• Humble対応 (#41)
• Contributors: Shuhei Kozasa

1.0.0 (2022-07-28)

• Update map command (#38)
• Adds config file for DUALSHOCK4 (#36)
• Update README for foxy-devel (#34)
• Remove node_ prefix from launch files (#33)
• Use ament_export_targets instead of ament_export_interfaces. (#31)
• Remove dashing check from CI (#32)
• Update rviz config to show scan and graph topics (#29)
• Add descriptions to READMEs for use_pulse_counters param settings (#28)
• Use joy_linux instead of joy (#27)
• Update CI to support ROS Foxy (#26)
• Update package.xml (#25)
• Install raspimouse2 and imu packages via rosdep command (#22)
• Add rt_usb_9axisimu_driver dependency to package.xml (#21)
• Add direction control example (#18)
• Use images of rt-net/images repo. (#17)
• Add lidar example (#14)
• Turn on/off leds with joy inputs (#15)
• Update Gamepad F710 usage in README (#13)
• Use multi threads in the object tracking example to stabilize the tracking (#11)
• update video link (#12)
• Merge teleop_joy launch files into one file. (#10)
• Add line follower examples (#9)
• Add object tracking sample (#8)

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