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Package Summary

ROS Package for controlling the AStuff PACMod with a Joystick

  • Maintainer status: developed
  • Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
  • Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
  • License: MIT
  • Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)

Package Summary

ROS Package for controlling the AStuff PACMod with a Joystick

  • Maintainer status: developed
  • Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
  • Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
  • License: MIT
  • Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)

Package Summary

ROS Package for controlling the AStuff PACMod with a Joystick

  • Maintainer status: developed
  • Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
  • Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
  • License: MIT
  • Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)

Package Summary

ROS Package for controlling the AStuff PACMod with a Joystick

  • Maintainer status: developed
  • Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
  • Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
  • License: MIT
  • Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)

A ROS package which supports controlling the AutonomouStuff PACMod drive-by-wire system with a standard game system controller using joy. This supports both pacmod and pacmod3.

Supported Controllers

It is very easy to add additional controllers. Simply add the new controller type to the GamepadType enum in include/globals.h and create new button mappings in src/startup_checks.cpp. The currently supported controllers are:

Controller Button Functions

Shown below is the Logitech F310 controller. Left: Front Layout of logitech Controller; Right: Side-button layout of logitech controller

Button

Action

Notes

Directional Pad (left-hand side)

Headlights and Turn Signals

Up

Headlights

Some vehicles only

Left

Left turn signal

Right

Right turn signal

Down

Hazards

Some vehicles only

Button Pad (right-hand side)

Gear Selection

A

Drive

B

Reverse

X

Neutral

Y

Park

Center region

Back

Enable/Disable

'Back' and 'Start' buttons must be pressed simultaneously to enable by-wire mode. 'Back' button must be pressed to disable by-wire mode.

Start

Enable

'Back' and 'Start' buttons must be pressed simultaneously to enable by-wire mode.

Mode

Not supported

Do not use. Mode light should be OFF at all times. Pressing mode button will change button mapping.

Joystick

Steering

Joystick click buttons unused

Left joystick

Steering

Steering defaults to left joystick, but can be set to right joystick by operator.

Right joystick

Steering

Only if set by operator; steering defaults to left joystick

Left bumper

Wiper

Some vehicles only

Left trigger

Brake

Right bumper

Horn

Some vehicles only

Right trigger

Throttle

Parameters

~steering_stick
Sets whether the steering command should be controlled by the left or right joystick on a two-stick controller. Valid values are LEFT or RIGHT.

~pacmod_vehicle_type
Sets the type of vehicle which is being controlled. This manages vehicle-specific values like the available features and maximum steering angle. Valid values are:

~controller_type
Sets the type of controller being used and associated button mappings. Valid values are:

~steering_max_speed
The maximum rotational speed for the steering wheel in rad/s.

~max_veh_speed
The vehicle speed is used to scale the rotation rate of the steering wheel. This value is the speed, in m/s, at which the most restriction is placed on rotation rate. This helps controlability as speed increases.

~accel_scale_val
A scaling value (0.0 - 1.0) for the accelerator. 1.0 = full throttle range. 0.0 = no throttle control.

~brake_scale_val
A scaling value (0.0 - 1.0) for the brake. 1.0 = full braking range. 0.0 = no brake control.


2022-07-02 12:49