Software: ROS Joy Node for Game Controller

Overview

joy is a ROS package that allows integration of joystick control into ROS protocols.

Reference

• Joy package documentation
• Configuring and using Joy

Usage

Gamepad

Running

roslaunch gravl teleop.launch controllerType:="gamepad"

Controls

• Left Analog Stick: y-axis controls velocity, x-axis controls steering
• B Button: Toggles Soft E-Stop
• A Button: Toggles Teleop/Autonomous Mode

Cyborg Joystick

Running

roslaunch gravl teleop.launch controllerType:="joystick"

Controls

• Joystick Analog: y-axis controls velocity, x-axis controls steering
• Trigger (Button 1): Toggles Soft E-Stop
• Pinky Button (Button 6): Toggles Teleop/Autonomous Mode