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=== Launch File Example === This example shows how to remap a Logitech-type joystick to a PS3 button mapping for controlling the PR2. {{{ <node pkg="joy" type="joy_node" name="logitech_joy" > <remap from="joy" to="logitech" /> </node> <node pkg="joystick_remapper" type="joystick_remapper.py" name="logitech_to_ps3" > <remap from="joy_source" to="logitech" /> <remap from="joy_des" to="joy" /> <param name="button_mappings" type="str" value="0 14 2 12 10 11 8" /> <param name="axis_mappings" type="str" value="=" /> </node> }}} |
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| * '''button_mapping''' (string) - A space separated list of integers that defines the button mapping. The k^th^ integer indicates which input button maps to the k^th^ output button. (Buttons are counted from zero.) If the parameter is not set or is "=" then the input buttons are copied directly to the output. For example: "1 0 5" means that axis 1 goes to 0, axis 0 goes to 1 and axis 5 goes to 2. |
The mapping parameters are given as strings, with each value in the string giving the new axis or button number. The k^th^ integer indicates which input button maps to the k^th^ output button. For example: {{{ 2 3 0 1 }}} Maps button (or axis) 2 to output button 0, 3->1, 0->2 and 1->3. Any axis or buttons that are not remapped are left in original order. Note that axes and button indices start from zero. |
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| * '''axis_mapping''' (string) - Same as '''button_mapping''' for mapping the axes. | If "=" is given as the remapping parameter, or none is given, the joystick buttons or axes are not remapped. * '''~button_mapping''' (string) - Buttons mappings. * '''~axis_mapping''' (string) - Same as '''~button_mapping''' for mapping the axes. |
ROS API
Launch File Example
This example shows how to remap a Logitech-type joystick to a PS3 button mapping for controlling the PR2.
<node pkg="joy" type="joy_node" name="logitech_joy" > <remap from="joy" to="logitech" /> </node> <node pkg="joystick_remapper" type="joystick_remapper.py" name="logitech_to_ps3" > <remap from="joy_source" to="logitech" /> <remap from="joy_des" to="joy" /> <param name="button_mappings" type="str" value="0 14 2 12 10 11 8" /> <param name="axis_mappings" type="str" value="=" /> </node>
Topics
joy_source (joy/Joy) - Topic on which joystick commands are arriving. This will usually get remapped.
joy_dest (joy/Joy) - Topic on which the remapped joystick events are sent out.
Parameters
The mapping parameters are given as strings, with each value in the string giving the new axis or button number. The kth integer indicates which input button maps to the kth output button. For example:
2 3 0 1
Maps button (or axis) 2 to output button 0, 3->1, 0->2 and 1->3. Any axis or buttons that are not remapped are left in original order. Note that axes and button indices start from zero.
If "=" is given as the remapping parameter, or none is given, the joystick buttons or axes are not remapped.
~button_mapping (string) - Buttons mappings.
~axis_mapping (string) - Same as ~button_mapping for mapping the axes.
Tutorials
Links to relevant tutorials
