Joystick node
This node transform the values read of the physical joystick into velocities that are published in the joystick topic. In addition it is possible change the vary the velocity proportionally using the wheel near the button number 10.
Download and install
For install joystick node is necessary follow these steps in the remote PC where the physical joystick is connected:
git clone ssh://ris/gitroot/joystick.git joystick
cd joystick/
catkin_make install
cd joystick/
catkin_make install
Running joystick node
Before running the joystick node remember to source the environment variables the first time it's executed.
source ~/joystick/install/setup.bash
Then run the joystick using the roslaunch file or using rosrun command. For stop the joystick node press the button number 2 of the joystick.
roslaunch joystick joyctick.launch
Problems
if case you found some errors like these:
libusb: error [_get_usbfs_fd] libusb couldn't open USB device /dev/bus/usb/001/009: Permission denied
libusb: error [_get_usbfs_fd] libusb requires write access to USB device nodes.
Cannot open device
Error configuration
libusb: error [_get_usbfs_fd] libusb requires write access to USB device nodes.
Cannot open device
Error configuration
ask your administrator to add a file called 50-joystick.rules with
SUBSYSTEM=="usb", ATTR{idVendor}=="044f", ATTR{idProduct}=="b106", MODE="0660", GROUP="usuaris", SYMLINK+="joystick"
to /etc/udev/rules.d