Joystick Control Teleoperation¶
Check out this cool demo that uses a joystick controller and MoveIt to control a PR2
Getting Started¶
If you haven’t already done so, make sure you’ve completed the steps in Getting Started.
Running the Code¶
Open two shells and make sure you have re-sourced the setup files in both of them:
source ~/ws_moveit/devel/setup.bash
In the first shell start RViz and wait for everything to finish loading:
roslaunch panda_moveit_config demo.launch
In the Motion Planning plugin of RViz, enable Allow External Comm. checkbox in the Planning tab. Enable the Query Goal State robot display in the MoveIt Motion Planning Plugins’ Planning Request section.
Now launch in the second shell, run the joystick_control.launch file:
roslaunch panda_moveit_config joystick_control.launch
The script defaults to using /dev/input/js0 for your game controller port. To customize, you can also use, for example:
roslaunch panda_moveit_config joystick_control.launch dev:=/dev/input/js1
This script can handle the following types of joysticks:
- PS3 Controller via USB
- PS3 Controller via Bluetooth (Please use ps3joy package at http://wiki.ros.org/ps3joy)
- PS4 Controller via USB
- PS4 Controller via Bluetooth (Please use ds4_driver package at http://wiki.ros.org/ds4_driver)
- XBox360 Controller via USB
- Arctic USB Wireless Gamepad
Joystick Command Mappings¶
| Command | PS3/4 Controller | Xbox Controller | Arctic Controller |
|---|---|---|---|
| +-x/y | left analog stick | left analog stick | left analog stick |
| +-z | L2/R2 | LT/RT | L2/R2 |
| +-yaw | L1/R1 | LB/RB | L1/R1 |
| +-roll | left/right | left/right | left/right |
| +-pitch | up/down | up/down | up/down |
| change planning group | select/start | Y/A | 9/10 |
| change end effector | triangle/cross | back/start | 1/3 |
| plan | square | X | 4 |
| execute | circle | B | 2 |
Debugging¶
Add “Pose” to RViz Displays and subscribe to /joy_pose in order to see the output from joystick.
Note that only planning groups that have IK solvers for all their End Effector parent groups will work.
Open Source Feedback
See something that needs improvement? Please open a pull request on this GitHub page