Joystick Control of Rviz Interactive Markers

Run

Startup regular MoveIt! planning node with Rviz (for example demo.launch)

In the Motion Planning plugin of Rviz, enable “Allow External Comm.” checkbox in the Planning tab.

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:

1. XBox360 Controller via USB
2. PS3 Controller via USB
3. PS3 Contrlller via Bluetooth (Please use ps3joy package <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.