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## note.0= [[turtlebot_teleop/Tutorials/Keyboard Teleop|Keyboard Teleop]]
## descriptive title for the tutorial
## title = Joystick Teleop
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## description = Joystick teleoperation of a turtlebot.
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## next.0.link=[[turtlebot_interactive_markers/Tutorials/hydro/UsingTurtlebotInteractiveMarkers|Interactive Markers Teleop]]
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

== Joystick ==

Several joystick configurations are supported - currently playstation3, xbox360 and logitech's rumblepad2. These example nodes are simple and depending on your joystick you may just need to remap the keys.   

=== Setting up the Joystick ===

For the most part, this tutorial assumes you have already got your joystick plugged in and its ready to go. Some more detailed information for specific joysticks:

 * [[turtlebot_teleop/Tutorials/PS3 Joystick Teleop|Playstation 3 Joysticks]]

=== On the TurtleBot ===

Now ssh <<SeeSaw(section="sshhelp1",toshow="(ssh help)")>> into the !TurtleBot and start the joystick and teleop nodes

 {{{#!wiki seesaw sshhelp1
<<Include(turtlebot/help/ssh)>><<BR>>
}}} 

{{{
# 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
}}}

== Unsupported Joystick ==

If your joystick is not listed above, it is a simple matter remapping the keys. Use the ps3_teleop.launch as a starting point and configure the buttons (working out which button you want for the deadman_axis is the most important) appropriately. Echo the `/joy` topic to help observe the id's of the various buttons getting pressed.

{{{
<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>
}}}

Once you've finalised the launcher for your custom joystick, [[https://github.com/turtlebot/turtlebot_apps/issues/new|send it to us]] and we'll integrate it with the official software!

== Need More Help? ==

<<SeeSaw("other_tutorials", "Show other Joystick Tutorials")>>{{{  }}}

{{{#!wiki seesaw other_tutorials
<<FullSearchWithDescriptionsCS(title:"Tutorials/" BeginnerCategory TutorialCategory JoystickDriverCategory)>>
}}}

== What Next? ==

 * [[turtlebot_interactive_markers/Tutorials/hydro/UsingTurtlebotInteractiveMarkers|Interactive Markers Teleop]] or return to [[Robots/TurtleBot | TurtleBot main page]].