1.適配與測試遊戲手柄

首先把手柄插入主機，一般來說可以通過檢查/dev/input檢視，裡面js#的裝置一般就是手柄了

ls /dev/input/

然後使用jstest，安裝的話sudo apt-get install就好，使用jstest的語句如下：

sudo jstest /dev/input/jsX

最後要記得檢查一下手柄裝置的許可權，需要的許可權是讀和寫，需要新增的話命令如下：

sudo chmod a+rw /dev/input/jsX

接下來安裝ROS的joy包

sudo apt-get install ros-ROS版本-joy
 

rosparam set joy_node/dev "/dev/input/jsX"

rosrun joy joy_node

原作者是：Andrew Dai

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy

def callback(data):
	twist = Twist()
	twist.linear.x = data.axes[1]
	twist.angular.z = data.axes[0]
        print('speed: %.2f, turn: %.2f'%(twist.linear.x,twist.angular.z))
        if data.buttons[2]==1:
             twist.linear.x = 0
             twist.angular.z = 0
             print("STOP!!")
	pub.publish(twist)

# Intializes everything
def start():
	# publishing to "cmd_vel" to control turtle1
	global pub
	pub = rospy.Publisher('cmd_vel', Twist)
	# subscribed to joystick inputs on topic "joy"
	rospy.Subscriber("joy", Joy, callback)
	# starts the node
	rospy.init_node('Joy2Turtle')
	rospy.spin()

if __name__ == '__main__':
	start()
 

twist.linear.x = data.axes[1]
twist.angular.z = data.axes[0]

data.buttons[2]

最後釋出twist資訊，將控制命令傳給機器人

4.Launch File

自己寫的一個launch檔案，為了啟動的時候方便一點

<launch>
  <arg name="joy_dev" default="/dev/input/js0" />

  <node pkg="joy" type="joy_node" name="joy_node">
    <param name="dev" value="$(arg joy_dev)" />
    <param name="deadzone" value="0.3" />
    <param name="autorepeat_rate" value="20" />
  </node>

  <node pkg="joytwist" type="joytwist.py" name="joytwist" output="screen"/>

</launch>
 

roslaunch joyetwist joytwist.launch