Joy Control

Joy Control is a ROS2 package designed to integrate joystick inputs into robotic control systems. It facilitates the mapping of joystick commands to various robot functionalities, enabling intuitive and responsive manual control.

---

Features

• Joystick Integration: Seamlessly connects compatible joysticks to the ROS ecosystem.
• Customizable Mappings: Allows users to define specific joystick-to-robot command mappings.
• Real-time Control: Enables immediate response to joystick inputs for precise maneuvering.

---

Requirements

• ROS 2 Humble: The latest version of the Robot Operating System.
• Gamepad: For this project, I used a PS4 controller to teleoperate a differential drive robot. For more information refer to this page.

---

Getting Started

Cloning the Package

Clone the package into a workspace and build it. Create a workspace with the following commands if you haven't done so already.

# Create workspace and source folder
mkdir joy_control_ws
cd joy_control_ws
mkdir src
cd src

# Clone the package
git clone https://github.com/nsaitarun-git/joy_control.git

# Build the workspace
cd ..
colcon build --symlink-install

---

Usage

Within the joy_control_ws folder, source the installation and run the launch file with your gamepad connected to the PC via USB or Bluetooth.

# Source the installation
source install/setup.bash

# Run the launch file
ros2 launch joy_control joystick.launch.py

To view the data being published to the /cmd_vel topic, use the following command.

# See the data published from gamepad
ros2 topic echo /cmd_vel

Turbo Mode

You can enable turbo mode by setting the line below to true in the config/joystick.yaml file.

require_enable_button: false

You can enable turbo mode and normal speed mode by using the buttons on your gamepad. Edit the following lines of code in the config/joystick.yaml file according to your gamepad's button numbers. On my PS4 controller, these buttons correspond to square and triangle.

  enable_button: 2
  enable_turbo_button: 3

---

License

This project is licensed under the MIT License. See the LICENSE file for details.