RobotOne Joystick Package

• RobotOne Joystick Package
  • Overview
  • Prerequisites
  • Installation
  • Configuration
  • Usage
  • Directory Structure
  • Contributing
  • License
  • Contact

Overview

The robotone_joystick is a ROS2 package that provides Joystick state. It enables users to interact with the robot using an Xbox controller for operation and testing. This package runs only on Linux system.

Key features include:

• Crete Joystick node
• Publish Joystick message (sensor_msgs/msg/joy)
• Configurable joystick interface

Prerequisites

Ensure the following dependencies are installed:

• ROS2 (Humble or above)
• Python 3

Installation

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/fra1alv/robotone_joystick.git

2. Build the workspace:

   cd ~/ros2_ws
   colcon build
   source install/setup.bash

3. Verify the installation by listing available ROS2 packages:

   ros2 pkg list | grep robotone_joystick

Configuration

The robotone_joystick package uses a configuration file to setup an interface with a joystick and process its input, then publishes it joy meassage. The default configuration file is located at config/xbox_config.yaml.

You can customize the parameters by editing this file:

robotone_joystick_node:
  ros__parameters:
    topic_name: /robotone_joystick
    dev: /dev/input/js0
    debug: true
    autorepeat_rate: 0   #Hz
    coalesce_interval: 1 #ms
    deadzone: 0.05

Usage

1. Launch the joystick node:

   ros2 launch robotone_joystick robotone_joystick_launch.py 

   Note: xBox controller is default in future we might have different controllers.
2. Verify the node list

   ros2 node list

   Node: you must to find the node robotone_joystick_node
3. List topics published by a node:

   ros2 node info /robotone_joystick_node

4. Listen to the topic

   ros2 topic echo /robotone_joystick

   Note: Topic name can be set on the config file

Directory Structure

robotone_joystick/
├── config/                             # Configuration files
│   └── xbox_config.yaml
├── include/                            # header files
│   └── robotone_joystick/
│       └── robotone_joystick.hpp/
├── launch/                             # Launch files
│   └── robotone_joystick_launch.py
├── src/                                #Source code
│   └── robotone_joystick_node.hpp
│       └── robotone_joystick,cpp           
├── CMakeLists.txt
├── LICENSE
├── package.xml                         # ROS2 package manifest
└── README.md                           

Contributing

Contributions are welcome! Please follow these steps:

1. Fork the repository.
2. Create a new branch for your feature or bug fix.
3. Submit a pull request with a detailed description of your changes.

License

This project is licensed under the GPLv3 License.

Contact

For support or questions, feel free to reach out:

• Email: alonsofra1alv@gmail.com
• GitHub: Fra1alv