Joystick

Documentation:

• https://wiki.ros.org/joy
• https://wiki.ros.org/ds4_driver

Joystick Configurations

joystick.yaml

ps4:
  linear_button: 6  # Left axis 2 (1{UP}  -> -1{DOWN}), button 6
  angular_button: 7 # Right axis 5 (1{UP} -> -1{DOWN}), button 7

  # long press linear_button + axis_linear
  # long press angular_button + axis_angular

  axis_linear:
    x: 4
    y: 3
    z: 1

  scale_linear:
    x: 0.05
    y: 0.05
    z: 0.05
    
  axis_angular:
    x: 1
    y: 0
    z: 4
    
  scale_angular:
    x: 0.05
    y: 0.05
    z: 0.05

joystick_control.launch

<arg name="dev"               default="/dev/input/js0" />
<arg name="threshold"         default="0.75"/>
<arg name="controller"        default="ps4"/>
<arg name="autorepeat_rate"   default="10"/>
<arg name="deadzone"          default="0.2"/>

<rosparam command="load" file="$(find trajectory_planning_gui)/config/joystick.yaml"/>

<node pkg="joy" type="joy_node" name="ps4_joy" output="screen">
   <param name="dev"             value="$(arg dev)" />
   <param name="autorepeat_rate" value="$(arg autorepeat_rate)"/>
   <param name="deadzone"        value="$(arg deadzone)"/>
</node>