About

ros 2 package, tested on ROS2 Humble ARM64

This is just a fun project to control a robot. I played a lot of Grand Theft Auto(GTA) growing up and it's just muscle memory for me to control anything with wheels like this.

Left trigger is break or reverse Right trigger is forward Left stick is steering (for differential drive robot this will rotate the robot)

Subcribed to : /Joy

Publish to : /cmd_vel

Feature

• Output only linear_x and angular_z for diferential drive
• Speed curve for adjustable fine-tune control at low or high speed

Limitations

• Currently only support the Xbox One Controller button inputs

• TODO: ros launch file to execute both joy and teleop_joy_gta

Configuration

Adjust these parameter to your liking if you are using Ubuntu natively not on MacOS then set mac_keybind to False

# When using Ubuntu on Mac --> True
mac_keybind = True

# Set top speed
max_linear_x = float(0.31) #m/s
max_angular_z = float(2 * math.pi) #rad/s

# Set speed curve
trigger_curve = trigger_curve_dict["x_power_three"]

Installation

1. git clone this repo into src of your ros workspace
2. colcon build

Usage

Run

Terminal 1:

# Run joy to accept controller and publish it as /joy
ros2 run joy joy_node

Terminal 2:

ros2 run teleop_joy_gta teleop_joy_gta_node

Inspect joy msg

Check button index ros2 topic echo /joy

Check lantency?? ros2 topic hz /joy

Inspect cmd_vel msg

Check speed ros2 topic echo /cmd_vel

ros2 topic hz /cmd_vel

Contribution

if you wanna contribute your controller configuration, please great an issue and considering contributing. Thank you and have run roboting.