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

• Foxy
• Humble (This branch)

Requirements

• Raspberry Pi Mouse
  • https://rt-net.jp/products/raspberrypimousev3/
  • Linux OS
    • Ubuntu server 22.04
    • https://ubuntu.com/download/raspberry-pi
  • Device Driver
    • rt-net/RaspberryPiMouse
  • ROS
    • Humble Hawksbill
  • Raspberry Pi Mouse ROS 2 package
    • https://github.com/rt-net/raspimouse2
• Remote Computer (Optional)
  • ROS
    • Humble Hawksbill
  • Raspberry Pi Mouse ROS 2 package
    • https://github.com/rt-net/raspimouse2

Installation

$ cd ~/ros2_ws/src
# Clone package
$ git clone -b $ROS_DISTRO-devel 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).

File truncated at 100 lines see the full file

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