In this example, we will create a simple package that will let you control the Rover using a joystick connected to your computer.
We will use two nodes that are available in the ROS distribution:
We assume that you have already created a workspace like in the previous example.
Start by creating an empty package with the specified dependencies:
You might need to install dependent packages first:
Now, add launch/ and config/ directories inside your package:
Inside launch/ directory, add the joy.launch file with the following content:
Inside config/ directory, add the joy_mapping.yaml file:
Now, build the package:
Before you start your launch file, you might need to remap axes and buttons to suit the joystick you have. Start joy_node by typing:
And on another terminal, run:
Move the axes you want to use for the linear and angular movements of the Rover and check which values are being changed on axes array (remember that the values are indexed from 0).
Choose the button that will be used to enable the command publishing. Check which value is being changed on the buttons array when you click the button.
Now, change the axis_linear , axis_angular, enable_button parameters in joy_mapping.yaml file.
Close the joy_node and start your the joy.launch file:
You should now be able to steer the Rover by holding down the enable button and moving the joy axes you set.