罗技手柄使用及总结

淡淡的烟草味﹌ 2023-06-19 09:35 9阅读 0赞

### 1.首先安装joy这个节点，通过 ###

sudo apt-get install ros-kinetic-joy

### 2.配置JoyStick ###

ls /dev/input/

你会看到

by-id    event1   event12  event15  event18  event3  event6  event9  mouse0
    by-path  event10  event13  event16  event19  event4  event7  js0     mouse1
    event0   event11  event14  event17  event2   event5  event8  mice    mouse2

js0即为罗技键盘输入

### **3.测试** ###

sudo jstest /dev/input/js0

即可看到各通道的值以及按钮的通断情况

### 4.使用 ###

**赋值权限**

sudo chmod a+rw /dev/input/js0

启动ROS驱动节点

roscore

rosparam set joy_node/dev "/dev/input/js0"
    rosrun joy joy_node

接收ROS( sensor\_msgs/Joy)消息

rostopic echo joy

### 5.将其应用到ROS ###

安装turtlebot\_teleop包

sudo apt-get install ros-kinetic-turtlebot-teleop

然后将/opt/ros/kinetic/share/turtlebot\_teleop/launch文件夹里面的logitech.launch文件修改为

<launch>
      
      <include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>
    
      <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
        <param name="scale_angular" value="1.5"/>
        <param name="scale_linear" value="0.5"/>
        <param name="axis_deadman" value="4"/>
        <param name="axis_linear" value="5"/>
        <param name="axis_angular" value="4"/>
        <remap from="turtlebot_teleop_joystick/cmd_vel" to="/xqserial_server/Twist"/>
      </node>
    
      <node pkg="joy" type="joy_node" name="joystick">
      <param name="dev" type="string" value="/dev/input/js0" />
      </node>
    </launch>

### **6.安装蓝鲸小强驱动代码(编译前请切到轮毂电机)** ###

cd ~/catkin_ws/src
    git clone https://github.com/BlueWhaleRobot/xqserial_server.git 
    git checkout lungu
    cd ..
    catkin_make

修改其xqserial.launch文件

原

改： **wheel\_radius**：**轮子半径**，**wheel\_separation**：**两轮轴距**，**max\_speed**：**最大线速度**，