Joystick Control Teleoperation¶
Run¶
Startup regular MoveIt! planning node with Rviz (for example demo.launch)
Make sure you have the dependencies installed:
sudo apt-get install ros-indigo-joy
In the Motion Planning plugin of Rviz, enable “Allow External Comm.” checkbox in the “Planning” tab. Enable the ‘Query Goal State’ robot display in the MoveIt! Motion Planning Plugins’s ‘Planning Request’ section.
Now launch the joystick control launch file specific to your robot. If you are missing this file, first re-run the MoveIt! Setup Assistant using the latest version of the Setup Assistant:
roslaunch YOURROBOT_moveit_config joystick_control.launch
The script defaults to using /dev/input/js0 for your game controller port. To customize, you can also use, for example:
roslaunch YOURROBOT_moveit_config joystick_control.launch dev:=/dev/input/js1
This script can read three types of joy sticks:
- XBox360 Controller via USB
- PS3 Controller via USB
- PS3 Controller via Bluetooth (Please use ps3joy package at http://wiki.ros.org/ps3joy)
Joystick Command Mappings¶
| Command | PS3 Controller | Xbox Controller |
|---|---|---|
| +-x/y | left analog stick | left analog stick |
| +-z | L2/R2 | LT/RT |
| +-yaw | L1/R1 | LB/RB |
| +-roll | left/right | left/right |
| +-pitch | up/down | up/down |
| change planning group | select/start | Y/A |
| change end effector | triangle/cross | back/start |
| plan | square | X |
| execute | circle | B |
Debugging¶
Add “Pose” to rviz Displays and subscribe to /joy_pose in order to see the output from joystick.
Note that only planning groups that have IK solvers for all their End Effector parent groups will work.
Open Source Feedback
See something that needs improvement? Please open a pull request on this GitHub page