ros2/teleop_twist_joy

Overview

The purpose of this package is to provide a generic facility for tele-operating Twist-based ROS2 robots with a standard joystick. It converts joy messages to velocity commands.

This node provides no rate limiting or autorepeat functionality. It is expected that you take advantage of the features built into joy for this.

Executables

The package comes with the teleop_node that republishes sensor_msgs/msg/Joy messages as scaled geometry_msgs/msg/Twist messages.

Subscribed Topics

• joy (sensor_msgs/msg/Joy)
  • Joystick messages to be translated to velocity commands.

Published Topics

• cmd_vel (geometry_msgs/msg/Twist)
  • Command velocity messages arising from Joystick commands.

Parameters

• require_enable_button (bool, default: true)

  • Whether to require the enable button for enabling movement.

• enable_button (int, default: 0)

  • Joystick button to enable regular-speed movement.

• enable_turbo_button (int, default: -1)

  • Joystick button to enable high-speed movement (disabled when -1).

• axis_linear.<axis>

  • Joystick axis to use for linear movement control.
  • axis_linear.x (int, default: 5)
  • axis_linear.y (int, default: -1)
  • axis_linear.z (int, default: -1)

• scale_linear.<axis>

  • Scale to apply to joystick linear axis for regular-speed movement.
  • scale_linear.x (double, default: 0.5)
  • scale_linear.y (double, default: 0.0)
  • scale_linear.z (double, default: 0.0)

• scale_linear_turbo.<axis>

  • Scale to apply to joystick linear axis for high-speed movement.
  • scale_linear_turbo.x (double, default: 1.0)
  • scale_linear_turbo.y (double, default: 0.0)
  • scale_linear_turbo.z (double, default: 0.0)

• axis_angular.<axis>

  • Joystick axis to use for angular movement control.
  • axis_angular.yaw (int, default: 2)
  • axis_angular.pitch (int, default: -1)
  • axis_angular.roll (int, default: -1)

• scale_angular.<axis>

  • Scale to apply to joystick angular axis.
  • scale_angular.yaw (double, default: 0.5)
  • scale_angular.pitch (double, default: 0.0)
  • scale_angular.roll (double, default: 0.0)

• scale_angular_turbo.<axis>

  • Scale to apply to joystick angular axis for high-speed movement.
  • scale_angular_turbo.yaw (double, default: 1.0)
  • scale_angular_turbo.pitch (double, default: 0.0)
  • scale_angular_turbo.roll (double, default: 0.0)

Usage

Install

For most users building from source will not be required, execute apt-get install ros-<rosdistro>-teleop-twist-joy to install.

Run

A launch file has been provided which has three arguments which can be changed in the terminal or via your own launch file. To configure the node to match your joystick a config file can be used. There are several common ones provided in this package (atk3, ps3-holonomic, ps3, xbox, xd3), located here: https://github.com/ros2/teleop_twist_joy/tree/eloquent/config.

PS3 is default, to run for another config (e.g. xbox) use this:

ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox'

Note: this launch file also launches the joy node so do not run it separately.

Arguments

• joy_config (string, default: 'ps3')
  • Config file to use
• joy_dev (string, default: 'dev/input/js0')
  • Joystick device to use
• config_filepath (string, default: '/opt/ros/<rosdistro>/share/teleop_twist_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')
  • Path to config files

Changelog for package teleop_twist_joy

2.4.5 (2023-06-08)

• Cleanup CMakeLists.txt. (#36)
• Contributors: Chris Lalancette

2.4.4 (2023-06-07)

• Install includes to include/\${PROJECT_NAME} (#30)
• joy_vel argument (#29)
• Contributors: Raffaello Bonghi, Shane Loretz

2.4.3 (2021-08-02)

• Fix the launch file to use \'executable\'. (#28)
• fix launch notation (#26)
• Contributors: Chris Lalancette, Shigeki Kobayashi

2.4.2 (2021-03-18)

• Update README to reflect changes to config parameters. (fixes #23) (#24)
• Contributors: Josh Newans

2.4.1 (2020-12-01)

• Add parameter to enable/disable requiring the enable button to be held for motion (#21)
• Contributors: Chris Lalancette, kgibsonjca

2.4.0 (2020-11-09)

• Switch to modern ReadyToTest for the tests.
• Switch from node_executable -> executable for Foxy.
• Update README for Ros2 (#17) (#18)
• Contributors: Chris Lalancette, nfry321

2.3.0 (2020-08-05)

• Make Parameters dynamic (#16)
• Contributors: aravindsrj

2.2.2 (2019-10-23)

• Export interfaces for Shared Lib on Windows.
• Make teleop_twist_joy composable.
• Reenable cppcheck.
• Rename teleop_twist_joy.h to teleop_twist_joy.hpp
• Get some basic tests running (#10)
• Port config and launch to ROS 2 (#11)
• Contributors: Chris Lalancette, Scott K Logan, seanyen

2.2.0 (2019-05-31)

• Fix parameters so things actually work in Dashing. (#9)
• Contributors: Chris Lalancette

2.1.1 (2019-02-08)

• Add in the ability to control via parameters (#8)
• Contributors: Chris Lalancette

2.1.0 (2018-06-26)

• ParameterService auto started (#7)
• Contributors: Shane Loretz

2.0.0 (2017-12-08)

• Initial port to ROS2
• Contributors: Chris Lalancette, Mikael Arguedas, Deanna Hood

0.1.2 (2016-08-31)

• Fixed incorrect key. (#21)
• Allow custom config file from location outside of this package
• Setting scale_angular_turbo if axis_angular is set so that turning works when turbo is pressed.
• Added turbo scale for angular velocities and accompanying test.
• Add LICENSE.txt.
• Contributors: Daniel Aden, Isaac I.Y. Saito, Mike Purvis, Tony Baltovski

0.1.1 (2015-06-27)

• Add rostests.
• Added maps to allow multi-dof velocity publishing.
• Added Xbox 360 controller example.
• Contributors: Mike Purvis, Tony Baltovski

0.1.0 (2014-07-25)

• Added configurations for Logitech Attack3 and Extreme 3D Pro joysticks.
• Initial version, with example config for PS3 joystick.
• Contributors: Mike Purvis, Tony Baltovski