Logitech F710 ROS joy teleop

Dockerized ROS node allowing to control ROS powered mobile robots with Logitech F710 gamepad. More details on ROS node itself and applied velocities in modes can be found in it's README.

Setup joy

Connect joy via nano USB receiver and make sure it is in DirectInput Mode (switch in front o the pad with letters D and X, select D).

To test if joy works use jstest /dev/input/js0. If the output is:

jstest: No such file or directory

See ls /dev/input | grep js and find your joy number. If it differs apply changes in compose..yaml* and launch file.

Button mapping

Button	Function
LB	enable driving
RB	slow driving mode
RT	fast driving mode

If neither RB nor RT are pressed robot operates in normal driving mode.

To drive robot use sticks.

By default linear X and Y are held by right stick. Angular Z is controlled with left stick.

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ROS node API

ROS node is translating /joy topic to /cmd_vel topic.

Publish

• /cmd_vel (geometry_msgs/Twist)

Subscribe

• /joy (sensor_msgs/Joy)

Parameters

Following parameters change joystick axes mapped to given robot axes of freedom. For more information about parameter values refer to joy package wiki page.

• ~axis_linear_x (int, default: 3)
• ~axis_linear_y (int, default: 2)
• ~axis_angular_z (int, default: 0)

Robot can be operated at 3 scales of speed depending on pressed buttons. Values in those parameters are m/s for linear movement and rad/s for angular movement.

• ~slow_linear_x (double, default: 0.1)

• ~slow_linear_y (double, default: 0.1)

• ~slow_angular_z (double, default: 0.1)

• ~normal_linear_x (double, default: 0.5)

• ~normal_linear_y (double, default: 0.5)

• ~normal_angular_z (double, default: 0.5)

• ~fast_linear_x (double, default: 2.0)

• ~fast_linear_y (double, default: 2.0)

• ~fast_angular_z (double, default: 2.0)

Docker image

ROS distro	Supported architectures
melodic	linux/amd64, linux/arm64, linux/arm/v7
noetic	linux/amd64, linux/arm64

Available on Docker Hub

Demo

Controlling ROSbot 2 with a Logitech F710 gamepad

1. Clone this repo on your ROSbot:

   git clone https://github.com/husarion/logitech_f710_ros.git
   cd logitech_f710_ros/

2. Create demo/.env based on demo/.env.template file and modify it if needed (see comments)

   # SBC <> STM32 serial connection. Set:
   # /dev/ttyS1 for ROSbot 2
   # /dev/ttyS4 for ROSbot 2 PRO
   # /dev/ttyAMA0 for ROSbbot 2R
   SERIAL_PORT=/dev/ttyAMA0

3. Launch on ROSbot

   Go to the logitech_f710_ros/demo folder and run:

   docker compose -f compose.rosbot.yaml up