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add joystick control input

This commit is contained in:
Huang Zhenbiao 2024-09-13 16:41:58 +08:00
parent 0561c115ba
commit 4649f555e6
7 changed files with 392 additions and 0 deletions
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49
commands/joystick_input/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(joystick_input)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(control_input_msgs REQUIRED)
add_executable(joystick_input src/JoystickInput.cpp)
target_include_directories(joystick_input
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
ament_target_dependencies(
joystick_input PUBLIC
rclcpp
sensor_msgs
control_input_msgs
)
install(TARGETS
joystick_input
DESTINATION lib/${PROJECT_NAME})
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif ()
ament_package()

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commands/joystick_input/LICENSE Normal file
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commands/joystick_input/include/joystick_input/JoystickInput.h Normal file
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//
// Created by tlab-uav on 24-9-13.
//
#ifndef JOYSTICKINPUT_H
#define JOYSTICKINPUT_H
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <control_input_msgs/msg/inputs.hpp>
class JoystickInput final : public rclcpp::Node {
public:
JoystickInput();
~JoystickInput() override = default;
private:
void joy_callback(sensor_msgs::msg::Joy::SharedPtr msg);
control_input_msgs::msg::Inputs inputs_;
rclcpp::Publisher<control_input_msgs::msg::Inputs>::SharedPtr publisher_;
rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr subscription_;
};
#endif //JOYSTICKINPUT_H

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commands/joystick_input/launch/joystick.launch.py Normal file
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from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='joy',
executable='joy_node',
name='joynode',
parameters=[{
'dev': '/dev/input/js0'
}]
),
Node(
package='joystick_input',
executable='joystick_input',
name='joystick_input_node'
)
])

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commands/joystick_input/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>joystick_input</name>
<version>0.0.0</version>
<description>A package to convert joystick signal to control input</description>
<maintainer email="biao876990970@hotmail.com">Huang Zhenbiao</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
<depend>control_input_msgs</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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commands/joystick_input/readme.md Normal file
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# Joystick Input
This node will listen to the joystick topic and publish a control_input_msgs/Input message.
```bash
cd ~/ros2_ws
colcon build --packages-up-to joystick_input
```
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch jotstick_input joystick.launch.py
```
## 1. Use Instructions
### 1.1 Control Mode
* Passive Mode: LB + B
* Fixed Stand: LB + A
* Free Stand: LB + X
* Trot: start
* SwingTest: LT + A
* Balance: LT + X
### 1.2 Control Input
* WASD IJKL: Move robot
* Space: Reset Speed Input

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commands/joystick_input/src/JoystickInput.cpp Normal file
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//
// Created by tlab-uav on 24-9-13.
//
#include "joystick_input/JoystickInput.h"
using std::placeholders::_1;
JoystickInput::JoystickInput() : Node("joysick_input_node") {
publisher_ = create_publisher<control_input_msgs::msg::Inputs>("control_input", 10);
subscription_ = create_subscription<
sensor_msgs::msg::Joy>("joy", 10, std::bind(&JoystickInput::joy_callback, this, _1));
}
void JoystickInput::joy_callback(sensor_msgs::msg::Joy::SharedPtr msg) {
if (msg->buttons[1] && msg->buttons[4]) {
inputs_.command = 1; // LB + B
} else if (msg->buttons[0] && msg->buttons[4]) {
inputs_.command = 2; // LB + A
} else if (msg->buttons[2] && msg->buttons[4]) {
inputs_.command = 3; // LB + X
} else if (msg->buttons[7]) {
inputs_.command = 4; // START
} else if (msg->axes[2] != 1 && msg->buttons[2]) {
inputs_.command = 10; // LT + X
} else if (msg->axes[2] != 1 && msg->buttons[0]) {
inputs_.command = 9; // LT + A
} else if (msg->axes[2] != 1 && msg->buttons[3]) {
inputs_.command = 8; // LT + Y
} else {
inputs_.command = 0;
inputs_.lx = msg->axes[0];
inputs_.ly = msg->axes[1];
inputs_.rx = msg->axes[3];
inputs_.ry = msg->axes[4];
}
publisher_->publish(inputs_);
}
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
auto node = std::make_shared<JoystickInput>();
spin(node);
rclcpp::shutdown();
return 0;
}