From 5aef2b77dd9c4d1293e7fafbd0e1bb7b49588012 Mon Sep 17 00:00:00 2001 From: sirius <fherrero@iri.upc.edu> Date: Thu, 1 Jun 2017 14:57:29 +0200 Subject: [PATCH] twist_to_manual_control: added launchs, changed speed signum --- config/ps3.yaml | 10 ++++++++++ launch/node.launch | 4 ++-- launch/teleop.launch | 18 ++++++++++++++++++ 3 files changed, 30 insertions(+), 2 deletions(-) create mode 100644 config/ps3.yaml create mode 100644 launch/teleop.launch diff --git a/config/ps3.yaml b/config/ps3.yaml new file mode 100644 index 0000000..993c3dc --- /dev/null +++ b/config/ps3.yaml @@ -0,0 +1,10 @@ +axis_linear: 1 +scale_linear: 0.5 +scale_linear_turbo: 2.0 + +axis_angular: 2 +scale_angular: 0.5 + +enable_button: 11 # R1 shoulder button +enable_turbo_button: 9 # R2 shoulder button + diff --git a/launch/node.launch b/launch/node.launch index ec25296..efe634d 100644 --- a/launch/node.launch +++ b/launch/node.launch @@ -22,8 +22,8 @@ <param name="speed_min" value="-500"/> <param name="speed_max" value="500"/> - <param name="linear_sat_min" value="-0.5"/> - <param name="linear_sat_max" value="0.5"/> + <param name="linear_sat_min" value="-1.0"/> + <param name="linear_sat_max" value="1.0"/> </node> <!-- </group>--> diff --git a/launch/teleop.launch b/launch/teleop.launch new file mode 100644 index 0000000..e1344ae --- /dev/null +++ b/launch/teleop.launch @@ -0,0 +1,18 @@ +<launch> + <arg name="dev" default="/dev/input/ps3joy"/> + + <arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" /> + + <node pkg="joy" type="joy_node" name="joy_node"> + <param name="dev" value="$(arg dev)" /> + <param name="deadzone" value="0.12" /> + <param name="autorepeat_rate" value="20" /> + </node> + + <node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node"> + <rosparam command="load" file="$(arg config_filepath)" /> + </node> + + <include file="$(find twist_to_manual_control)/launch/node.launch"/> + +</launch> -- GitLab