PACMod Game Controller

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:

• Logitech F310
• FORT Robotics Safe Remote Control
• Logitech G29 Steering Wheel and Pedals
• XBOX ONE Wired or Wireless Controller

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.

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

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.