README

ds_dbw_joystick_demo

ROS2 interface to Dataspeed drive-by-wire platforms

Launch the drive-by-wire and the demo

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true

Launch the drive-by-wire and the demo and only send brake commands

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true steer:=false brake:=true thrtl:=false shift:=false misc:=false

Launch the drive-by-wire and the demo and specify all steer options

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true steer_cmd_type:=angle steer_max:=500.0 steer_rate:=0.0 steer_accel:=0.0

Launch the drive-by-wire and the demo and specify all brake options

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true brake_cmd_type:=pressure brake_min:=0.0 brake_max:=80.0 brake_inc:=0.0 brake_dec:=0.0
ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true brake_cmd_type:=accel brake_min:=0.1 brake_max:=-8.0 brake_inc:=0.0 brake_dec:=0.0

Launch the drive-by-wire and the demo and specify all throttle options

ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true thrtl_cmd_type:=percent thrtl_min:=0.0 thrtl_max:=100.0 thrtl_inc:=0.0 thrtl_dec:=0.0

Parameters

See joystick_demo.launch.xml for a complete list of args

  • steer Send steer commands. Default true

  • steer_cmd_type Steer command type. Default percent. Options: torque angle curvature yaw_rate percent

  • steer_max Steer command scale factor applied to joystick axis. Default 100.0% (changes with the value of steer_cmd_type)

  • steer_rate Steer command rate limit in deg/s. Negative for unlimited. Default 0.0 (firmware selects default value)

  • steer_accel Steer command acceleration limit in deg/s^2. Negative for unlimited. Default 0.0 (firmware selects default value)

  • brake Send brake commands. Default true

  • brake_cmd_type Brake command type. Default percent. Options: pressure torque accel accel_acc accel_aeb pedal_raw percent

  • brake_max Brake command scale factor applied to joystick axis (with brake_min). Default 80.0% (changes with the value of brake_cmd_type)

  • brake_min Brake command scale factor applied to joystick axis (with brake_max). Default 0.0% (changes with the value of brake_cmd_type)

  • brake_inc Brake command rate limit for increase. Negative for unlimited. Default 0.0 (firmware selects default value) (units change with the value of brake_cmd_type)

  • brake_dec Brake command rate limit for decrease. Negative for unlimited. Default 0.0 (firmware selects default value) (units change with the value of brake_cmd_type)

  • thrtl Send throttle commands. Default true

  • thrtl_cmd_type Throttle command type. Default percent. Options: pedal_raw percent

  • thrtl_max Throttle command scale factor applied to joystick axis (with thrtl_min). Default 100.0% (changes with the value of thrtl_cmd_type)

  • thrtl_min Throttle command scale factor applied to joystick axis (with thrtl_max). Default 0.0% (changes with the value of thrtl_cmd_type)

  • thrtl_inc Throttle command rate limit for increase in %/s. Negative for unlimited. Default 0.0 (firmware selects default value)

  • thrtl_dec Throttle command rate limit for decrease in %/s. Negative for unlimited. Default 0.0 (firmware selects default value)

  • shift Send gear shift commands. Default true

  • misc Send misc commands (turn-signal and others). Default true

  • ignore Set ignore flag in steer/brake/thrtl command messages. Default false

  • enable Enable/disable DBW with game controller left/right bumper buttons. Default true

  • buttons Enable/disable DBW with system enable/disable buttons. Default true

Controls

Logitech F310 Gamepad controls:

  • Disable

    • Left Bumper

  • Enable

    • Right Bumper

  • Brakes

    • Left Trigger

  • Throttle

    • Right Trigger

  • Steering

    • Left/right of either joystick axis

    • Hold back or start to get full steering range, otherwise half

  • Turn Signals

    • D-Pad left/right toggle on/off

  • AEB precharge

    • D-Pad up/down