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ROS Robotics By Example, Second Edition

You're reading from   ROS Robotics By Example, Second Edition Learning to control wheeled, limbed, and flying robots using ROS Kinetic Kame

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Product type Paperback
Published in Nov 2017
Publisher Packt
ISBN-13 9781788479592
Length 484 pages
Edition 2nd Edition
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Authors (3):
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Dr. Thomas L. Harman Dr. Thomas L. Harman
Author Profile Icon Dr. Thomas L. Harman
Dr. Thomas L. Harman
Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Carol Fairchild Carol Fairchild
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Carol Fairchild
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS 2. Creating Your First Two-Wheeled ROS Robot (in Simulation) FREE CHAPTER 3. Driving Around with TurtleBot 4. Navigating the World with TurtleBot 5. Creating Your First Robot Arm (in Simulation) 6. Wobbling Robot Arms Using Joint Control 7. Making a Robot Fly 8. Controlling Your Robots with External Devices 9. Flying a Mission with Crazyflie 10. Controlling Baxter with MATLAB© Index

Creating a custom ROS game controller interface


If you have played with a joystick with either Baxter or Crazyflie, you may think that the function of certain buttons or joysticks would be better with your own special design. Each type of game controller has one or more joysticks and various buttons or triggers to cause events depending on the game software being used. Here, for the Microsoft Xbox controller, we will do the following:

  • Show how to determine the mapping between controller joysticks, buttons, and triggers and the number corresponding to each using a graphical package, jstest-gtk

  • Use the terminal command jstest; this will enable you to determine the corresponding numbers of controller joysticks, buttons, and triggers

The following diagram shows the Xbox 360 game controller. Pushing a button changes the output from 0 (off) to 1 (on) on the channel corresponding to the pushed button, which in turn can be read by a program and used to start an application. Moving the stick outputs...

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