Documentation Status

joystick_drivers: cwiid | joy | ps3joy | spacenav | spacenav_node | wiimote

Package Summary

Documented

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

Released Documented

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

Released Documented

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

Released Continuous integration Documented

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

Released Continuous integration Documented

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

Released Continuous integration Documented

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Cannot load information on name: joy, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Supported Hardware

This node should work with any joystick that is supported by Linux.

API Stability

The ROS API of this node should be considered stable.

Official Documentation

Nodes

joy_node.py

The joy_node provides a generic Linux joystick node.

Published Topics

joy (joy/Joy)
  • Outputs the joystick state.
joy (sensor_msgs/Joy)
  • Outputs the joystick state.

Parameters

~dev (string, default: /dev/input/js0)
  • Linux joystick device from which to read joystick events.
~deadzone (double, default: 0.05)
  • Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of an axis's range before that axis will output a non-zero value. Linux does its own deadzone processing, so in many cases this value can be set to zero.
~autorepeat_rate (double, default: 0.0 (disabled))
  • Rate in Hz at which a joystick that has a non-changing state will resend the previously sent message.
~coalesce_interval (double, default: 0.001)
  • Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Using this Package

For an example of using joy_node to control a teleoperation node with a joystick, see the tutorials.

In some cases, multiple joysticks may control a single robot. For example, a user may use the default joystick to drive a robot, but a second user may wish to use a different kind. Since the button mappings on each joystick may be different, it will be necessary to remap buttons on one joystick so they can match. See the Joystick Remapper package for details.

Application

Microsoft Xbox 360 Wireless Controller for Windows

Table of index number of /joy.buttons:

Index

Button name on the actual controller

0

A

1

B

2

X

3

Y

4

LB

5

RB

7

start

8

power

10

cross key up

11

cross key down

12

cross key left

13

cross key right

14

back

Microsoft Xbox 360 Wireless Controller for Linux

Table of index number of /joy.buttons:

Index

Button name on the actual controller

0

A

1

B

2

X

3

Y

4

LB

5

RB

6

back

7

start

8

power

9

Button stick left

10

Button stick right

Table of index number of /joy.axis:

Index

Axis name on the actual controller

0

Left/Right Axis stick left

1

Up/Down Axis stick left

2

Left/Right Axis stick right

3

Up/Down Axis stick right

4

RT

4

LT

6

cross key left/right

7

cross key up/down

Microsoft Xbox 360 Wired Controller for Linux

Table of index number of /joy.buttons:

Index

Button name on the actual controller

0

A

1

B

2

X

3

Y

4

LB

5

RB

6

back

7

start

8

power

9

Button stick left

10

Button stick right

Table of index number of /joy.axis:

Index

Axis name on the actual controller

0

Left/Right Axis stick left

1

Up/Down Axis stick left

2

LT

3

Left/Right Axis stick right

4

Up/Down Axis stick right

5

RT

6

cross key left/right

7

cross key up/down

Wiki: joy (last edited 2016-07-17 06:08:08 by AustinHendrix)