From 49e4926d6d3749b437f54c8088738c0b6b7e5195 Mon Sep 17 00:00:00 2001 From: David Calderon Date: Sun, 22 Oct 2023 18:56:06 -0400 Subject: [PATCH] Update ros2_control.md Signed-off-by: David Calderon --- documents/research/ros2_control.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/documents/research/ros2_control.md b/documents/research/ros2_control.md index 9933f970..9adc8662 100644 --- a/documents/research/ros2_control.md +++ b/documents/research/ros2_control.md @@ -35,3 +35,11 @@ Consists of three main components: 6. (Optional) If you want to confirm that messages are being correctly published to `/diff_cont/cmd_vel_unstamped`, then run `ros2 topic echo /diff_cont/cmd_vel_unstamped` 7. Press keys on the keyboard WITHIN the terminal that you started `teleop_twist_keyboard` in order to control the rover in Gazebo +# Using a Joystick +- Use the same set of instructions, until and including step 4. +- Run `sudo modprobe xpad` for controller setup. +- Run `ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox'` to get the controller listener running. +- Then, run `ros2 run teleop_twist_joy teleop_node --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped` to convert /joy messages to /cmd_vel and remap to the proper topic +- Use the controller bumpers to move the rover +**We need better controls than this, we need to redo the controller listener.** +