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Effective Robotics Programming with ROS

You're reading from   Effective Robotics Programming with ROS Find out everything you need to know to build powerful robots with the most up-to-date ROS

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Product type Paperback
Published in Dec 2016
Publisher Packt
ISBN-13 9781786463654
Length 468 pages
Edition 3rd Edition
Tools
Concepts
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Authors (3):
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Luis S√°nchez Luis S√°nchez
Author Profile Icon Luis S√°nchez
Luis S√°nchez
Enrique Fernandez Perdomo Enrique Fernandez Perdomo
Author Profile Icon Enrique Fernandez Perdomo
Enrique Fernandez Perdomo
Anil Mahtani Anil Mahtani
Author Profile Icon Anil Mahtani
Anil Mahtani
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debugging Tools 4. 3D Modeling and Simulation 5. The Navigation Stack – Robot Setups 6. The Navigation Stack – Beyond Setups 7. Manipulation with MoveIt! 8. Using Sensors and Actuators with ROS 9. Computer Vision 10. Point Clouds Index

Using a joystick or a gamepad


I am sure that, at one point or another, you have used a joystick or a gamepad of a video console.

A joystick is nothing more than a series of buttons and potentiometers. With this device, you can perform or control a wide range of actions.

In ROS, a joystick is used to telecontrol a robot to change its velocity or direction.

Before we start, we are going to install some packages. To install these packages in Ubuntu, execute the following command:

$ sudo apt-get install ros-kinetic-joystick-drivers
$ rosstack profile & rospack profile

In these packages, you will find code to learn how to use the joystick and a guide to create our packages.

First of all, connect your joystick to your computer. Now, we are going to check whether the joystick is recognized using the following command:

$ ls /dev/input/

We will see the following output:

by-id event0 event2 event4 event6 event8 js0 mouse0
by-path event1 event3 event5 event7 event9 mice

The port created is js0; with...

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