joystick control using ROS
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//
// This page was written by tafifet & guezout
//
Up:[[Tutorial]]
----
The aim of this tutorial is to show how to control a SIGV...
#contents
*Installation of the joystick [#ed1b8136]
Download and install [[Microsoft directx sdk:http://www.m...
*Overview[#ed1b8322]
When the server is launched, 2 ROS nodes are created, the...
&ref(ros_Joyestick.PNG,,80%);
*Creating the project[#ed1b8122]
Go to catkin_ws directory and create a new package:
$ cd ~/catkin_ws/src
$ catkin_create_pkg sig_ros
*Server[#ed1b9422]
In the server side we have two nodes, SIGVerwe controller...
** SIGVerse controller[#ed1b8453]
sig_controller.cpp:
#highlight(cpp){{
#include "Controller.h"
#include "Logger.h"
#include "ControllerEvent.h"
#include "ros/ros.h"
#include <sstream>
#include "std_msgs/String.h"
#include <sig_ros/Velocity.h>
#define PI 3.141592
#define DEG2RAD(DEG) ( (PI) * (DEG) / 180.0 )
#define ARY_SIZE(ARY) ( (int)(sizeof(ARY)/sizeof(ARY[0])) )
class SendController : public Controller
{
public:
void onInit(InitEvent &evt);
double onAction(ActionEvent &evt);
void onRecvMsg(RecvMsgEvent &evt);
void poseCallback(const sig_ros::VelocityConstPtr& vel);
public:
RobotObj *my;
double velocity;
int i;
ros::Publisher chatter_pub;
ros::Subscriber pose_sub ;
int j;
double Weel_one;
double Weel_two;
};
void SendController::poseCallback(const sig_ros::Velocity...
{
Weel_one = vel->linear;
Weel_two = vel->angular;
}
void SendController::onInit(InitEvent &evt)
{
Weel_one = 0.0;
Weel_two = 0.0;
int argc =0;
char** argv = NULL;
my = this->getRobotObj(this->myname());
my->setWheel(10.0, 10.0);
ros::init(argc, argv, "sig_controller_node");
ros::NodeHandle n;
velocity = 1;
chatter_pub = n.advertise<std_msgs::String>("message_co...
pose_sub = n.subscribe<sig_ros::Velocity>("mycommand_ve...
ros::Rate loop_rate(10);
// Running the ros_command node
system ("source ~/catkin_ws/devel/setup.sh");
system ("rosrun sig_ros ros_controller &");
}
double SendController::onAction(ActionEvent &evt)
{
my->setWheelVelocity(Weel_one,Weel_two);
ros::spinOnce();
return 0.01; //onAction will be called every 0.01second
}
void SendController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
std::string msg = evt.getMsg();
LOG_MSG(("message : %s", msg.c_str()));
std_msgs::String mesg;
std::stringstream ss;
ss << msg;
mesg.data = ss.str();
chatter_pub.publish(mesg);
}
extern "C" Controller * createController ()
{
return new SendController;
}
}}
** ROS command[#ed1b8123]
ros_controller.cpp file:
#highlight(cpp){{
#include <ros/ros.h>
#include <signal.h>
#include <termios.h>
#include <stdio.h>
#include "std_msgs/String.h"
#include <sig_ros/Velocity.h>
#define KEYCODE_R 0x43
#define KEYCODE_L 0x44
#define KEYCODE_U 0x41
#define KEYCODE_D 0x42
#define KEYCODE_Q 0x71
class CommandSig
{
public:
CommandSig();
void CommandLoop();
void chatterCallback (const std_msgs::String::ConstPtr...
private:
ros::NodeHandle nh_;
double linear_, angular_, l_scale_, a_scale_;
ros::Publisher vel_pub_;
ros::Subscriber mess_sub ;
};
CommandSig::CommandSig():
linear_(0),
angular_(0),
l_scale_(2.0),
a_scale_(2.0)
{
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);
vel_pub_ = nh_.advertise<sig_ros::Velocity>("mycommand...
mess_sub = nh_.subscribe("message_command",100,&Comma...
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "ros_command_node");
CommandSig Command_sig;
ros::Rate loop_rate(100);
ros::spin();
return(0);
}
void CommandSig::chatterCallback (const std_msgs::String:...
{
sig_ros::Velocity vel;
if(strcmp("moveforward",msg->data.c_str())==0)
{
vel.angular = 3.0;
vel.linear = 3.0;
vel_pub_.publish(vel);
}
else if(strcmp("movebackward",msg->data.c_str())==0)
{
vel.angular = -3.0;
vel.linear = -3.0;
vel_pub_.publish(vel);
}
else if(strcmp("turnleft",msg->data.c_str())==0)
{
vel.angular = 0.78;
vel.linear = -0.78;
vel_pub_.publish(vel);
sleep(1.8);
vel.angular = 0.0;
vel.linear = 0.0;
vel_pub_.publish(vel);
}
else if(strcmp("turnright",msg->data.c_str())==0)
{
vel.angular = -0.78;
vel.linear = 0.78;
vel_pub_.publish(vel);
sleep(1.8);
vel.angular = 0.0;
vel.linear = 0.0;
vel_pub_.publish(vel);
}
else if(strcmp("stop",msg->data.c_str())==0)
{
vel.angular = 0.0;
vel.linear = 0.0;
vel_pub_.publish(vel);
}
}
void CommandSig::CommandLoop()
{
ros::Rate loop_rate(10);
while (ros::ok)
{
ros::spinOnce();
loop_rate.sleep();
}
return;
}
}}
*World file [#ed1b8133]
Click on the link to download the world file:
#ref(RobotInMove.xml)
*Service[#ed1b8422]
Open Visual studio and add new C++ project, then include ...
Joystick_Service.cpp
#highlight(cpp){{
#include <tchar.h>
#include <string>
#include <iostream>
#include < fstream>
#include "SIGService.h"
#include <windows.h>
#include "Joystick_Driver.h"
bool Proceed = false;
bool lancer = false;
class Joystick_Service : public sigverse::SIGService
{
public:
Joystick_Service(std::string name);
~Joystick_Service();
double onAction();
void onRecvMsg(sigverse::RecvMsgEvent &evt);
private: Joystick* JS; //pointer to joystick object
private: HWND hWnd;
};
Joystick_Service::Joystick_Service(std::string name) : ...
JS = new Joystick();
hWnd = NULL;
};
Joystick_Service::~Joystick_Service()
{
this->disconnect();
}
double Joystick_Service::onAction()
{
JS->runJoystick(hWnd);
printf("forward message : %d\n",JS->getButton(0));
printf("back message : %d\n",JS->getButton(1));
printf("left message : %d\n",JS->getButton(2));
printf("right message : %d\n",JS->getButton(3));
if(JS->getButton(0))
{
this->sendMsg("robot_000","moveforward");
}
if(JS->getButton(1))
{
this->sendMsg("robot_000","movebackward");
}
if(JS->getButton(2))
{
this->sendMsg("robot_000","turnright");
}
if(JS->getButton(3))
{
this->sendMsg("robot_000","turnleft");
}
return 0.1;
}
void Joystick_Service::onRecvMsg(sigverse::RecvMsgEve...
{
}
int main(int argc, char** argv)
{ Joystick_Service srv("Joystick__Service");
srv.connect(argv[1], port);
srv.startLoop();
return 0;
}
}}
To download the plugin:
#ref(Sig_Joystick.sig)
* Download the project [#ed1b3123]
To download the project from GIT repository, use the foll...
git@socio4.iir.nii.ac.jp:~/SigverseGitServer/unstable/use...
The project contains:
-"Sig_Joystick" directory: which is the joystick service,...
-"sig_ros" directory: which is the controller, it must be...
- "RobotMove.xml" file: the world file, it must be placed...
To install and run the server, please refer to the [[ROS ...
----
#highlight(end)
[[Tutorial]]
End:
//
// This page was written by tafifet & guezout
//
Up:[[Tutorial]]
----
The aim of this tutorial is to show how to control a SIGV...
#contents
*Installation of the joystick [#ed1b8136]
Download and install [[Microsoft directx sdk:http://www.m...
*Overview[#ed1b8322]
When the server is launched, 2 ROS nodes are created, the...
&ref(ros_Joyestick.PNG,,80%);
*Creating the project[#ed1b8122]
Go to catkin_ws directory and create a new package:
$ cd ~/catkin_ws/src
$ catkin_create_pkg sig_ros
*Server[#ed1b9422]
In the server side we have two nodes, SIGVerwe controller...
** SIGVerse controller[#ed1b8453]
sig_controller.cpp:
#highlight(cpp){{
#include "Controller.h"
#include "Logger.h"
#include "ControllerEvent.h"
#include "ros/ros.h"
#include <sstream>
#include "std_msgs/String.h"
#include <sig_ros/Velocity.h>
#define PI 3.141592
#define DEG2RAD(DEG) ( (PI) * (DEG) / 180.0 )
#define ARY_SIZE(ARY) ( (int)(sizeof(ARY)/sizeof(ARY[0])) )
class SendController : public Controller
{
public:
void onInit(InitEvent &evt);
double onAction(ActionEvent &evt);
void onRecvMsg(RecvMsgEvent &evt);
void poseCallback(const sig_ros::VelocityConstPtr& vel);
public:
RobotObj *my;
double velocity;
int i;
ros::Publisher chatter_pub;
ros::Subscriber pose_sub ;
int j;
double Weel_one;
double Weel_two;
};
void SendController::poseCallback(const sig_ros::Velocity...
{
Weel_one = vel->linear;
Weel_two = vel->angular;
}
void SendController::onInit(InitEvent &evt)
{
Weel_one = 0.0;
Weel_two = 0.0;
int argc =0;
char** argv = NULL;
my = this->getRobotObj(this->myname());
my->setWheel(10.0, 10.0);
ros::init(argc, argv, "sig_controller_node");
ros::NodeHandle n;
velocity = 1;
chatter_pub = n.advertise<std_msgs::String>("message_co...
pose_sub = n.subscribe<sig_ros::Velocity>("mycommand_ve...
ros::Rate loop_rate(10);
// Running the ros_command node
system ("source ~/catkin_ws/devel/setup.sh");
system ("rosrun sig_ros ros_controller &");
}
double SendController::onAction(ActionEvent &evt)
{
my->setWheelVelocity(Weel_one,Weel_two);
ros::spinOnce();
return 0.01; //onAction will be called every 0.01second
}
void SendController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
std::string msg = evt.getMsg();
LOG_MSG(("message : %s", msg.c_str()));
std_msgs::String mesg;
std::stringstream ss;
ss << msg;
mesg.data = ss.str();
chatter_pub.publish(mesg);
}
extern "C" Controller * createController ()
{
return new SendController;
}
}}
** ROS command[#ed1b8123]
ros_controller.cpp file:
#highlight(cpp){{
#include <ros/ros.h>
#include <signal.h>
#include <termios.h>
#include <stdio.h>
#include "std_msgs/String.h"
#include <sig_ros/Velocity.h>
#define KEYCODE_R 0x43
#define KEYCODE_L 0x44
#define KEYCODE_U 0x41
#define KEYCODE_D 0x42
#define KEYCODE_Q 0x71
class CommandSig
{
public:
CommandSig();
void CommandLoop();
void chatterCallback (const std_msgs::String::ConstPtr...
private:
ros::NodeHandle nh_;
double linear_, angular_, l_scale_, a_scale_;
ros::Publisher vel_pub_;
ros::Subscriber mess_sub ;
};
CommandSig::CommandSig():
linear_(0),
angular_(0),
l_scale_(2.0),
a_scale_(2.0)
{
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);
vel_pub_ = nh_.advertise<sig_ros::Velocity>("mycommand...
mess_sub = nh_.subscribe("message_command",100,&Comma...
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "ros_command_node");
CommandSig Command_sig;
ros::Rate loop_rate(100);
ros::spin();
return(0);
}
void CommandSig::chatterCallback (const std_msgs::String:...
{
sig_ros::Velocity vel;
if(strcmp("moveforward",msg->data.c_str())==0)
{
vel.angular = 3.0;
vel.linear = 3.0;
vel_pub_.publish(vel);
}
else if(strcmp("movebackward",msg->data.c_str())==0)
{
vel.angular = -3.0;
vel.linear = -3.0;
vel_pub_.publish(vel);
}
else if(strcmp("turnleft",msg->data.c_str())==0)
{
vel.angular = 0.78;
vel.linear = -0.78;
vel_pub_.publish(vel);
sleep(1.8);
vel.angular = 0.0;
vel.linear = 0.0;
vel_pub_.publish(vel);
}
else if(strcmp("turnright",msg->data.c_str())==0)
{
vel.angular = -0.78;
vel.linear = 0.78;
vel_pub_.publish(vel);
sleep(1.8);
vel.angular = 0.0;
vel.linear = 0.0;
vel_pub_.publish(vel);
}
else if(strcmp("stop",msg->data.c_str())==0)
{
vel.angular = 0.0;
vel.linear = 0.0;
vel_pub_.publish(vel);
}
}
void CommandSig::CommandLoop()
{
ros::Rate loop_rate(10);
while (ros::ok)
{
ros::spinOnce();
loop_rate.sleep();
}
return;
}
}}
*World file [#ed1b8133]
Click on the link to download the world file:
#ref(RobotInMove.xml)
*Service[#ed1b8422]
Open Visual studio and add new C++ project, then include ...
Joystick_Service.cpp
#highlight(cpp){{
#include <tchar.h>
#include <string>
#include <iostream>
#include < fstream>
#include "SIGService.h"
#include <windows.h>
#include "Joystick_Driver.h"
bool Proceed = false;
bool lancer = false;
class Joystick_Service : public sigverse::SIGService
{
public:
Joystick_Service(std::string name);
~Joystick_Service();
double onAction();
void onRecvMsg(sigverse::RecvMsgEvent &evt);
private: Joystick* JS; //pointer to joystick object
private: HWND hWnd;
};
Joystick_Service::Joystick_Service(std::string name) : ...
JS = new Joystick();
hWnd = NULL;
};
Joystick_Service::~Joystick_Service()
{
this->disconnect();
}
double Joystick_Service::onAction()
{
JS->runJoystick(hWnd);
printf("forward message : %d\n",JS->getButton(0));
printf("back message : %d\n",JS->getButton(1));
printf("left message : %d\n",JS->getButton(2));
printf("right message : %d\n",JS->getButton(3));
if(JS->getButton(0))
{
this->sendMsg("robot_000","moveforward");
}
if(JS->getButton(1))
{
this->sendMsg("robot_000","movebackward");
}
if(JS->getButton(2))
{
this->sendMsg("robot_000","turnright");
}
if(JS->getButton(3))
{
this->sendMsg("robot_000","turnleft");
}
return 0.1;
}
void Joystick_Service::onRecvMsg(sigverse::RecvMsgEve...
{
}
int main(int argc, char** argv)
{ Joystick_Service srv("Joystick__Service");
srv.connect(argv[1], port);
srv.startLoop();
return 0;
}
}}
To download the plugin:
#ref(Sig_Joystick.sig)
* Download the project [#ed1b3123]
To download the project from GIT repository, use the foll...
git@socio4.iir.nii.ac.jp:~/SigverseGitServer/unstable/use...
The project contains:
-"Sig_Joystick" directory: which is the joystick service,...
-"sig_ros" directory: which is the controller, it must be...
- "RobotMove.xml" file: the world file, it must be placed...
To install and run the server, please refer to the [[ROS ...
----
#highlight(end)
[[Tutorial]]
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