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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:

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.


2019-10-19 12:58