Note: This tutorial assumes that you have completed the previous tutorials: Keyboard Teleop.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

ジョイスティック・テレオペレーション

Description: turtlebotのジョイスティック・テレオペレーション

Keywords: joystick teleop

Tutorial Level: BEGINNER

Next Tutorial: Interactive Markers Teleop

ジョイスティック

PlayStation3, Xbox360, そして, Logitech rumblepad2といった, 数種類のジョイスティック構成がサポートされています. これらの例となるノードは単純で、 手持ちのジョイスティックに依ってはキーをリマッピングする必要があるかもしれません。

ジョイスティックを設定する

ほとんどの部分において、 このチュートリアルは既にジョイスティックを接続済みで、使用準備が整っている状態であることを前提としています.。特定のジョイスティックに関する詳細は以下を参照してください：

TurtleBot上での作業

TurtleBotにSSH接続し (ssh help) 、ジョイスティックとテレオペのノードを起動します。

  • To ssh in to a TurtleBot from a workstation computer:

    • determine the IP_OF_TURTLEBOT by using ifconfig (Need more help)

      To determine a computer's IP address and network interface in linux: 

      • ifconfig

      You will see something like: 

      • lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:16436  Metric:1
          RX packets:6658055 errors:0 dropped:0 overruns:0 frame:0
          TX packets:6658055 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:0 
          RX bytes:587372914 (587.3 MB)  TX bytes:587372914 (587.3 MB)

wlan1     Link encap:Ethernet  HWaddr 48:5d:60:75:58:90  
          inet addr:10.0.129.17  Bcast:10.0.129.255  Mask:255.255.254.0
          inet6 addr: fe80::4a5d:60ff:fe75:5890/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:101983 errors:0 dropped:0 overruns:0 frame:0
          TX packets:37244 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:49326141 (49.3 MB)  TX bytes:7588044 (7.5 MB)

      • the network interface for the wireless card is wlan1

      • the IP address of the computer is 10.0.129.17


    • use ssh to connect to the TurtleBot 

      ssh turtlebot@IP_OF_TURTLEBOT

# Playstation 3
> roslaunch turtlebot_teleop ps3_teleop.launch
# Xbox360 (use the left stick while keeping the right stick pressed in)
> roslaunch turtlebot_teleop xbox360_teleop.launch
# Logitech joysticks (general configuration for all logitech joysticks)
> roslaunch turtlebot_teleop logitech.launch

サポートされていないジョイスティック

上記に挙げられていないジョイスティックを使用する場合、 キーをマッピングしなおすという単純な問題があります。ps3_teleop.launchファイルを手がかりに, 適切にボタンの構成設定を行いましょう(deadman_axisにどのボタンを割り当てるかという問題を解決することが最も重要です)。押された個々のボタンのIDを確認するため、 /joyトピックをechoします。 

<launch>
  <!--  smooths inputs from cmd_vel_mux/input/teleop_raw to cmd_vel_mux/input/teleop -->
  <include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.xml"/>

  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
    <param name="scale_angular" value="1.5"/>
    <param name="scale_linear" value="0.5"/>
    <param name="axis_deadman" value="10"/>
    <param name="axis_linear" value="1"/>
    <param name="axis_angular" value="0"/>
    <remap from="turtlebot_teleop_joystick/cmd_vel" to="cmd_vel_mux/input/teleop_raw"/>
  </node>
  <node pkg="joy" type="joy_node" name="joystick"/>
</launch>

一旦, 個別のジョイスティックのlaunchファイルを確定させたら、 こちらに送り、 公式ソフトウェアと統合しましょう。

もっとHelpが必要なら？

Show other Joystick Tutorials   

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  16. How to Recharge the PS3 Joystick

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  19. How to Write a Generic Teleoperation Node

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次は？

Wiki: ja/turtlebot_teleop/Tutorials/hydro/Joystick Teleop (last edited 2014-09-28 18:14:02 by Moirai)

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