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Brandon/add flightjoy #56

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47b07a0
Updated udev rules for mapping Logitech Extreme 3D flight joystick
bjrice13 Aug 13, 2021
37419ba
Added flight joysick launch files
bjrice13 Sep 26, 2021
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8 changes: 4 additions & 4 deletions control/joystick_handler/include/Configuration.h
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#define METERS_PER_DEGREE 0.001 //Conversion from motor units to native units
#define TRACK_WIDTH 0.4 //Track width in meters
#define MAX_SPEED 1 //Max speed in meters per second
#define MAX_TURN 1 //Max turn in Radians per second
#define METERS_PER_DEGREE 0.001 //Conversion from motor units to native units
#define TRACK_WIDTH 0.4 //Track width in meters
#define MAX_SPEED 2 //Max speed in meters per second
#define MAX_TURN 2 //Max turn in Radians per second
29 changes: 29 additions & 0 deletions control/joystick_handler/joystick_handler_flight.launch
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@@ -0,0 +1,29 @@
<launch>
<!-- Turtlesim Node-->
<!-- <node pkg="turtlesim" type="turtlesim_node" name="sim"/> -->

<!-- joy node -->
<group>
<remap from='joy' to='j0'/>
<node pkg='joy' name='j0' type='joy_node'>
<param name='dev' type='string' value='/dev/SDRCFlightJoystick'/>
</node>
</group>

<!-- <group>
<remap from='joy' to='joy1'/>
<node pkg='joy' name='joy1' type='joy_node'>
<param name='dev' type='string' value='/dev/input/js1'/>
</node>
</group> -->

<!-- Axes -->
<param name="axis_linear" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="2" type="double"/>
<param name="scale_angular" value="2" type="double"/>
<param name='joy_pub_topic' type='string' value='chassis/cmd_vel'/>

<!-- NOTE: pgk and type do not have to match-->
<node pkg="joystick_handler" type="joystick_handler" name="teleop" output="screen"/>
</launch>
29 changes: 29 additions & 0 deletions control/joystick_handler/joystick_handler_flight_sim.launch
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@@ -0,0 +1,29 @@
<launch>
<!-- Turtlesim Node-->
<!-- <node pkg="turtlesim" type="turtlesim_node" name="sim"/> -->

<!-- joy node -->
<group>
<remap from='joy' to='j0'/>
<node pkg='joy' name='j0' type='joy_node'>
<param name='dev' type='string' value='/dev/SDRCFlightJoystick'/>
</node>
</group>

<!-- <group>
<remap from='joy' to='joy1'/>
<node pkg='joy' name='joy1' type='joy_node'>
<param name='dev' type='string' value='/dev/input/js1'/>
</node>
</group> -->

<!-- Axes -->
<param name="axis_linear" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="2" type="double"/>
<param name="scale_angular" value="2" type="double"/>
<param name='joy_pub_topic' type='string' value='/cmd_vel'/>

<!-- NOTE: pgk and type do not have to match-->
<node pkg="joystick_handler" type="joystick_handler" name="teleop" output="screen"/>
</launch>
29 changes: 29 additions & 0 deletions control/joystick_handler/joystick_handler_flight_simrace.launch
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@@ -0,0 +1,29 @@
<launch>
<!-- Turtlesim Node-->
<!-- <node pkg="turtlesim" type="turtlesim_node" name="sim"/> -->

<!-- joy node -->
<group>
<remap from='joy' to='j0'/>
<node pkg='joy' name='j0' type='joy_node'>
<param name='dev' type='string' value='/dev/SDRCFlightJoystick'/>
</node>
</group>

<!-- <group>
<remap from='joy' to='joy1'/>
<node pkg='joy' name='joy1' type='joy_node'>
<param name='dev' type='string' value='/dev/input/js1'/>
</node>
</group> -->

<!-- Axes -->
<param name="axis_linear" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="2" type="double"/>
<param name="scale_angular" value="2" type="double"/>
<param name='joy_pub_topic' type='string' value='/cmd_vel'/>

<!-- NOTE: pgk and type do not have to match-->
<node pkg="joystick_handler" type="joystick_handler" name="teleop" output="screen"/>
</launch>
29 changes: 29 additions & 0 deletions control/joystick_handler/joystick_handler_flight_turtle.launch
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@@ -0,0 +1,29 @@
<launch>
<!-- Turtlesim Node-->
<!-- <node pkg="turtlesim" type="turtlesim_node" name="sim"/> -->

<!-- joy node -->
<group>
<remap from='joy' to='j0'/>
<node pkg='joy' name='j0' type='joy_node'>
<param name='dev' type='string' value='/dev/SDRCFlightJoystick'/>
</node>
</group>

<!-- <group>
<remap from='joy' to='joy1'/>
<node pkg='joy' name='joy1' type='joy_node'>
<param name='dev' type='string' value='/dev/input/js1'/>
</node>
</group> -->

<!-- Axes -->
<param name="axis_linear" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="2" type="double"/>
<param name="scale_angular" value="2" type="double"/>
<param name='joy_pub_topic' type='string' value='/turtle1/cmd_vel'/>

<!-- NOTE: pgk and type do not have to match-->
<node pkg="joystick_handler" type="joystick_handler" name="teleop" output="screen"/>
</launch>
53 changes: 25 additions & 28 deletions control/joystick_handler/src/joystick_handler.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
#include "Configuration.h"
#include "../include/Configuration.h"
// #include "joystick/RoboteqCommand.h"

// To use: run:
Expand Down Expand Up @@ -44,7 +44,6 @@ enum joystickInputs
// float value[21];
// };


class JoystickHandler
{
public:
Expand All @@ -53,7 +52,7 @@ class JoystickHandler
int id;

private:
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
void joyCallback(const sensor_msgs::Joy::ConstPtr &joy);

ros::NodeHandle nh_;

Expand All @@ -63,21 +62,19 @@ class JoystickHandler
double l_scale_, a_scale_;
ros::Publisher vel_pub_;
ros::Subscriber joy_sub_;

};

// Set-up subscribers/publishers in constructor
JoystickHandler::JoystickHandler(int joynum):
linear_(1),
angular_(1)
JoystickHandler::JoystickHandler(int joynum) : linear_(1),
angular_(1)
{
nh_.param("axis_linear", linear_, linear_);
nh_.param("axis_angular", angular_, angular_);
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);

// Get joystick info from /joy
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("j"+std::to_string(joynum), 10, &JoystickHandler::joyCallback, this);
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("j" + std::to_string(joynum), 10, &JoystickHandler::joyCallback, this);

std::string topic_name;
nh_.getParam("joy_pub_topic", topic_name);
Expand All @@ -93,48 +90,48 @@ float JoystickHandler::getValue(joystickInputs i)
return values[i];
}

void JoystickHandler::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
void JoystickHandler::joyCallback(const sensor_msgs::Joy::ConstPtr &joy)
{
if(id == 0)
if (id == 0)
{
std::cout << "\033[1;33m";
}
else if(1)
else if (1)
{
std::cout << "\033[1;36m";
}
for(int i = 0; i < 8; i++)
for (int i = 0; i < 8; i++)
{
values[i] = joy->axes[i];
printf("%f ", values[i]);
}
for(int i = 0; i < 13; i++)
for (int i = 0; i < 13; i++)
{
values[i+8] = joy->buttons[i];
printf("%i ", (int)values[i+8]);
values[i + 8] = joy->buttons[i];
printf("%i ", (int)values[i + 8]);
}
std::cout << "\033[0m\n";
// printf("\n");

geometry_msgs::Twist twist;
twist.angular.z = joy->axes[angular_]; // Set rotation axis data
twist.linear.x = joy->axes[linear_]; // Set forward/backward axis data
twist.angular.z = joy->axes[angular_] * MAX_TURN; // Set rotation axis data
twist.linear.x = joy->axes[linear_] * MAX_SPEED; // Set forward/backward axis data
vel_pub_.publish(twist);
}

void callback(const geometry_msgs::Twist::ConstPtr& msg){
double linear = msg->linear.x;
double angular = msg->angular.z;
double leftVelocity; //Velocity 1
double rightVelocity; //Velocity 2
leftVelocity = linear - TRACK_WIDTH * angular/2;
rightVelocity = linear + TRACK_WIDTH * angular/2;

// ROS_INFO("%f, %f", leftVelocity, rightVelocity);
void callback(const geometry_msgs::Twist::ConstPtr &msg)
{
double linear = msg->linear.x;
double angular = msg->angular.z;
double leftVelocity; //Velocity 1
double rightVelocity; //Velocity 2
leftVelocity = linear - TRACK_WIDTH * angular / 2;
rightVelocity = linear + TRACK_WIDTH * angular / 2;

// ROS_INFO("%f, %f", leftVelocity, rightVelocity);
}


int main(int argc, char** argv)
int main(int argc, char **argv)
{
ros::init(argc, argv, "joy_handler");

Expand Down
4 changes: 0 additions & 4 deletions extras/arduino-sample/include/Configuration.h
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