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:

1. PS3 Controller via USB

2. PS3 Controller via Bluetooth (Please use ps3joy package at http://wiki.ros.org/ps3joy)

3. PS4 Controller via USB

4. PS4 Controller via Bluetooth (Please use ds4_driver package at http://wiki.ros.org/ds4_driver)

5. XBox360 Controller via USB

6. 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.

开源反馈

有地方需要改进？请在 GitHub page 新开一个 pull request。