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Revision ba6306a1

IDba6306a16e7929dfc2a947ae650c4b2daa5f1435

Added by Priya over 7 years ago

Adding joy package for joystick control. Takes a joystick working with linux and ports it into ROS.

View differences:

joy/.svn/all-wcprops
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svn:wc:ra_dav:version-url
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/svn/ros-pkg/!svn/ver/38436/stacks/joystick_drivers/trunk/joy
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END
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joy
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svn:wc:ra_dav:version-url
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/svn/ros-pkg/!svn/ver/24085/stacks/joystick_drivers/trunk/joy/joy
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END
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manifest.xml
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/svn/ros-pkg/!svn/ver/37286/stacks/joystick_drivers/trunk/joy/manifest.xml
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END
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joy_node.cpp
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svn:wc:ra_dav:version-url
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/svn/ros-pkg/!svn/ver/37286/stacks/joystick_drivers/trunk/joy/joy_node.cpp
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mainpage.dox
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/svn/ros-pkg/!svn/ver/24299/stacks/joystick_drivers/trunk/joy/mainpage.dox
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CMakeLists.txt
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svn:wc:ra_dav:version-url
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/svn/ros-pkg/!svn/ver/37469/stacks/joystick_drivers/trunk/joy/CMakeLists.txt
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Makefile
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/svn/ros-pkg/!svn/ver/23884/stacks/joystick_drivers/trunk/joy/Makefile
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END
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txjoy
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/svn/ros-pkg/!svn/ver/24086/stacks/joystick_drivers/trunk/joy/txjoy
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END
joy/.svn/dir-prop-base
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.build_version
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.rosgcov_files
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bin
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joy
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src
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svn:mergeinfo
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/pkg/branches/gazebo-branch-merge/drivers/input/joy:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
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END
joy/.svn/entries
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dir
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https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers/trunk/joy
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https://code.ros.org/svn/ros-pkg
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2012-01-06T23:16:12.760348Z
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joy/.svn/prop-base/joy.svn-base
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*
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END
joy/.svn/prop-base/joy_node.cpp.svn-base
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svn:mergeinfo
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V 193
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/pkg/branches/gazebo-branch-merge/drivers/input/joy/txjoy.cpp:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
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joy/.svn/prop-base/txjoy.svn-base
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/pkg/branches/gazebo-branch-merge/drivers/input/joy/joy:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
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END
joy/.svn/text-base/CMakeLists.txt.svn-base
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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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rosbuild_init()
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rosbuild_genmsg()
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# Look for <linux/joystick.h>
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include(CheckIncludeFiles)
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check_include_files(linux/joystick.h HAVE_LINUX_JOYSTICK_H)
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if(HAVE_LINUX_JOYSTICK_H)
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  include_directories(msg/cpp)
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  rosbuild_add_executable(joy_node joy_node.cpp)
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else(HAVE_LINUX_JOYSTICK_H)
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  message("Warning: no <linux/joystick.h>; won't build joy node")
14
endif(HAVE_LINUX_JOYSTICK_H)
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16
#rosbuild_add_pyunit(test/test_joy_msg_migration.py)
joy/.svn/text-base/Makefile.svn-base
1
include $(shell rospack find mk)/cmake.mk
joy/.svn/text-base/joy.svn-base
1
#! /bin/sh
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echo
3
echo '****************************************************************'
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echo '****************************************************************'
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echo $0 is deprecated. Please use joy_node instead.
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echo '****************************************************************'
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echo '****************************************************************'
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echo
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rosrun joy joy_node "$@"
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echo
11
echo '****************************************************************'
12
echo '****************************************************************'
13
echo $0 is deprecated. Please use joy_node instead.
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echo '****************************************************************'
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echo '****************************************************************'
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echo
joy/.svn/text-base/joy_node.cpp.svn-base
1
/*
2
 * teleop_pr2
3
 * Copyright (c) 2009, Willow Garage, Inc.
4
 * All rights reserved.
5
 * 
6
 * Redistribution and use in source and binary forms, with or without
7
 * modification, are permitted provided that the following conditions are met:
8
 * 
9
 *     * Redistributions of source code must retain the above copyright
10
 *       notice, this list of conditions and the following disclaimer.
11
 *     * Redistributions in binary form must reproduce the above copyright
12
 *       notice, this list of conditions and the following disclaimer in the
13
 *       documentation and/or other materials provided with the distribution.
14
 *     * Neither the name of the <ORGANIZATION> nor the names of its
15
 *       contributors may be used to endorse or promote products derived from
16
 *       this software without specific prior written permission.
17
 * 
18
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
22
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28
 * POSSIBILITY OF SUCH DAMAGE.
29
 */
30

  
31
//\author: Blaise Gassend
32

  
33
#include <unistd.h>
34
#include <math.h>
35
#include <linux/joystick.h>
36
#include <fcntl.h>
37
#include <diagnostic_updater/diagnostic_updater.h>
38
#include "ros/ros.h"
39
#include <sensor_msgs/Joy.h>
40

  
41

  
42
///\brief Opens, reads from and publishes joystick events
43
class Joystick
44
{
45
private:
46
  ros::NodeHandle nh_;
47
  bool open_;               
48
  std::string joy_dev_;
49
  double deadzone_;
50
  double autorepeat_rate_;  // in Hz.  0 for no repeat.
51
  double coalesce_interval_; // Defaults to 100 Hz rate limit.
52
  int event_count_;
53
  int pub_count_;
54
  ros::Publisher pub_;
55
  double lastDiagTime_;
56
  
57
  diagnostic_updater::Updater diagnostic_;
58
  
59
  ///\brief Publishes diagnostics and status
60
  void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat)
61
  {
62
    double now = ros::Time::now().toSec();
63
    double interval = now - lastDiagTime_;
64
    if (open_)
65
      stat.summary(0, "OK");
66
    else
67
      stat.summary(2, "Joystick not open.");
68
    
69
    stat.add("topic", pub_.getTopic());
70
    stat.add("device", joy_dev_);
71
    stat.add("dead zone", deadzone_);
72
    stat.add("autorepeat rate (Hz)", autorepeat_rate_);
73
    stat.add("coalesce interval (s)", coalesce_interval_);
74
    stat.add("recent joystick event rate (Hz)", event_count_ / interval);
75
    stat.add("recent publication rate (Hz)", pub_count_ / interval);
76
    stat.add("subscribers", pub_.getNumSubscribers());
77
    event_count_ = 0;
78
    pub_count_ = 0;
79
    lastDiagTime_ = now;
80
  }
81
  
82
public:
83
  Joystick() : nh_(), diagnostic_()
84
  {}
85
  
86
  ///\brief Opens joystick port, reads from port and publishes while node is active
87
  int main(int argc, char **argv)
88
  {
89
    diagnostic_.add("Joystick Driver Status", this, &Joystick::diagnostics);
90
    diagnostic_.setHardwareID("none");
91

  
92
    // Parameters
93
    ros::NodeHandle nh_param("~");
94
    pub_ = nh_.advertise<sensor_msgs::Joy>("joy", 1);
95
    nh_param.param<std::string>("dev", joy_dev_, "/dev/input/js0");
96
    nh_param.param<double>("deadzone", deadzone_, 0.05);
97
    nh_param.param<double>("autorepeat_rate", autorepeat_rate_, 0);
98
    nh_param.param<double>("coalesce_interval", coalesce_interval_, 0.001);
99
    
100
    // Checks on parameters
101
    if (autorepeat_rate_ > 1 / coalesce_interval_)
102
      ROS_WARN("joy_node: autorepeat_rate (%f Hz) > 1/coalesce_interval (%f Hz) does not make sense. Timing behavior is not well defined.", autorepeat_rate_, 1/coalesce_interval_);
103
    
104
    if (deadzone_ >= 1)
105
    {
106
      ROS_WARN("joy_node: deadzone greater than 1 was requested. The semantics of deadzone have changed. It is now related to the range [-1:1] instead of [-32767:32767]. For now I am dividing your deadzone by 32767, but this behavior is deprecated so you need to update your launch file.");
107
      deadzone_ /= 32767;
108
    }
109
    
110
    if (deadzone_ > 0.9)
111
    {
112
      ROS_WARN("joy_node: deadzone (%f) greater than 0.9, setting it to 0.9", deadzone_);
113
      deadzone_ = 0.9;
114
    }
115
    
116
    if (deadzone_ < 0)
117
    {
118
      ROS_WARN("joy_node: deadzone_ (%f) less than 0, setting to 0.", deadzone_);
119
      deadzone_ = 0;
120
    }
121

  
122
    if (autorepeat_rate_ < 0)
123
    {
124
      ROS_WARN("joy_node: autorepeat_rate (%f) less than 0, setting to 0.", autorepeat_rate_);
125
      autorepeat_rate_ = 0;
126
    }
127
    
128
    if (coalesce_interval_ < 0)
129
    {
130
      ROS_WARN("joy_node: coalesce_interval (%f) less than 0, setting to 0.", coalesce_interval_);
131
      coalesce_interval_ = 0;
132
    }
133
    
134
    // Parameter conversions
135
    double autorepeat_interval = 1 / autorepeat_rate_;
136
    double scale = -1. / (1. - deadzone_) / 32767.;
137
    double unscaled_deadzone = 32767. * deadzone_;
138

  
139
    js_event event;
140
    struct timeval tv;
141
    fd_set set;
142
    int joy_fd;
143
    event_count_ = 0;
144
    pub_count_ = 0;
145
    lastDiagTime_ = ros::Time::now().toSec();
146
    
147
    // Big while loop opens, publishes
148
    while (nh_.ok())
149
    {                                      
150
      open_ = false;
151
      diagnostic_.force_update();
152
      bool first_fault = true;
153
      while (true)
154
      {
155
        ros::spinOnce();
156
        if (!nh_.ok())
157
          goto cleanup;
158
        joy_fd = open(joy_dev_.c_str(), O_RDONLY);
159
        if (joy_fd != -1)
160
        {
161
          // There seems to be a bug in the driver or something where the
162
          // initial events that are to define the initial state of the
163
          // joystick are not the values of the joystick when it was opened
164
          // but rather the values of the joystick when it was last closed.
165
          // Opening then closing and opening again is a hack to get more
166
          // accurate initial state data.
167
          close(joy_fd);
168
          joy_fd = open(joy_dev_.c_str(), O_RDONLY);
169
        }
170
        if (joy_fd != -1)
171
          break;
172
        if (first_fault)
173
        {
174
          ROS_ERROR("Couldn't open joystick %s. Will retry every second.", joy_dev_.c_str());
175
          first_fault = false;
176
        }
177
        sleep(1.0);
178
        diagnostic_.update();
179
      }
180
      
181
      ROS_INFO("Opened joystick: %s. deadzone_: %f.", joy_dev_.c_str(), deadzone_);
182
      open_ = true;
183
      diagnostic_.force_update();
184
      
185
      bool tv_set = false;
186
      bool publication_pending = false;
187
      tv.tv_sec = 1;
188
      tv.tv_usec = 0;
189
      sensor_msgs::Joy joy_msg; // Here because we want to reset it on device close.
190
      while (nh_.ok()) 
191
      {
192
        ros::spinOnce();
193
        
194
        bool publish_now = false;
195
        bool publish_soon = false;
196
        FD_ZERO(&set);
197
        FD_SET(joy_fd, &set);
198
        
199
        //ROS_INFO("Select...");
200
        int select_out = select(joy_fd+1, &set, NULL, NULL, &tv);
201
        //ROS_INFO("Tick...");
202
        if (select_out == -1)
203
        {
204
          tv.tv_sec = 0;
205
          tv.tv_usec = 0;
206
          //ROS_INFO("Select returned negative. %i", ros::isShuttingDown());
207
          continue;
208
          //				break; // Joystick is probably closed. Not sure if this case is useful.
209
        }
210
        
211
        if (FD_ISSET(joy_fd, &set))
212
        {
213
          if (read(joy_fd, &event, sizeof(js_event)) == -1 && errno != EAGAIN)
214
            break; // Joystick is probably closed. Definitely occurs.
215
          
216
          //ROS_INFO("Read data...");
217
          joy_msg.header.stamp = ros::Time().now();
218
          event_count_++;
219
          switch(event.type)
220
          {
221
          case JS_EVENT_BUTTON:
222
          case JS_EVENT_BUTTON | JS_EVENT_INIT:
223
            if(event.number >= joy_msg.buttons.size())
224
            {
225
              int old_size = joy_msg.buttons.size();
226
              joy_msg.buttons.resize(event.number+1);
227
              for(unsigned int i=old_size;i<joy_msg.buttons.size();i++)
228
                joy_msg.buttons[i] = 0.0;
229
            }
230
            joy_msg.buttons[event.number] = (event.value ? 1 : 0);
231
            // For initial events, wait a bit before sending to try to catch
232
            // all the initial events.
233
            if (!(event.type & JS_EVENT_INIT))
234
              publish_now = true;
235
            else
236
              publish_soon = true;
237
            break;
238
          case JS_EVENT_AXIS:
239
          case JS_EVENT_AXIS | JS_EVENT_INIT:
240
            if(event.number >= joy_msg.axes.size())
241
            {
242
              int old_size = joy_msg.axes.size();
243
              joy_msg.axes.resize(event.number+1);
244
              for(unsigned int i=old_size;i<joy_msg.axes.size();i++)
245
                joy_msg.axes[i] = 0.0;
246
            }
247
            if (!(event.type & JS_EVENT_INIT)) // Init event.value is wrong.
248
            {
249
              double val = event.value;
250
              // Allows deadzone to be "smooth"
251
              if (val > unscaled_deadzone)
252
                val -= unscaled_deadzone;
253
              else if (val < -unscaled_deadzone)
254
                val += unscaled_deadzone;
255
              else
256
                val = 0;
257
              joy_msg.axes[event.number] = val * scale;
258
            }
259
            // Will wait a bit before sending to try to combine events. 				
260
            publish_soon = true;
261
            break;
262
          default:
263
            ROS_WARN("joy_node: Unknown event type. Please file a ticket. time=%u, value=%d, type=%Xh, number=%d", event.time, event.value, event.type, event.number);
264
            break;
265
          }
266
        }
267
        else if (tv_set) // Assume that the timer has expired.
268
          publish_now = true;
269
        
270
        if (publish_now)
271
        {
272
          // Assume that all the JS_EVENT_INIT messages have arrived already.
273
          // This should be the case as the kernel sends them along as soon as
274
          // the device opens.
275
          //ROS_INFO("Publish...");
276
          pub_.publish(joy_msg);
277
          publish_now = false;
278
          tv_set = false;
279
          publication_pending = false;
280
          publish_soon = false;
281
          pub_count_++;
282
        }
283
        
284
        // If an axis event occurred, start a timer to combine with other
285
        // events.
286
        if (!publication_pending && publish_soon)
287
        {
288
          tv.tv_sec = trunc(coalesce_interval_);
289
          tv.tv_usec = (coalesce_interval_ - tv.tv_sec) * 1e6;
290
          publication_pending = true;
291
          tv_set = true;
292
          //ROS_INFO("Pub pending...");
293
        }
294
        
295
        // If nothing is going on, start a timer to do autorepeat.
296
        if (!tv_set && autorepeat_rate_ > 0)
297
        {
298
          tv.tv_sec = trunc(autorepeat_interval);
299
          tv.tv_usec = (autorepeat_interval - tv.tv_sec) * 1e6; 
300
          tv_set = true;
301
          //ROS_INFO("Autorepeat pending... %i %i", tv.tv_sec, tv.tv_usec);
302
        }
303
        
304
        if (!tv_set)
305
        {
306
          tv.tv_sec = 1;
307
          tv.tv_usec = 0;
308
        }
309
	
310
        diagnostic_.update();
311
      } // End of joystick open loop.
312
      
313
      close(joy_fd);
314
      ros::spinOnce();
315
      if (nh_.ok())
316
        ROS_ERROR("Connection to joystick device lost unexpectedly. Will reopen.");
317
    }
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319
  cleanup:
320
    ROS_INFO("joy_node shut down.");
321
    
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    return 0;
323
  }
324
};
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326
int main(int argc, char **argv)
327
{
328
  ros::init(argc, argv, "joy_node");
329
  Joystick j;
330
  return j.main(argc, argv);
331
}
joy/.svn/text-base/mainpage.dox.svn-base
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/**
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\mainpage
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\htmlinclude manifest.html
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\b joy ROS joystick drivers for Linux. This package works with Logitech joysticks and PS3 SIXAXIS/DUALSHOCK devices. This package will only build is linux/joystick.h
7

  
8
\section rosapi ROS API
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This package contains the message "Joy", which carries data from the joystick's axes and buttons. It also has the joy_node, which reads from a given joystick port and publishes "Joy" messages.
11

  
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List of nodes:
13
- \b joy_node
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15
Deprecated nodes:
16
- \b txjoy 
17
- \b joy 
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The deprecated nodes are the same as the joy_node, but they will warn users when used. They are actually just bash scripts that call "joy_node" and print a warning. 
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<hr>
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\subsection joy joy
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\b joy ROS joystick driver for all linux joysticks. The driver will poll a given port until it can read from it, the publish Joy messages of the joystick state. If the port closes, or it reads an error, it will reopen the port. All axes are in the range [-1, 1], and all buttons are 0 (off) or 1 (on). 
25

  
26
Since the driver will poll for the joystick port, and automatically reopen the port if it's closed, the joy_node should be "on" whenever possible. It is typically part of the robot's launch file.
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\subsubsection autorepeat Auto-Repeat/Signal Loss
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The joy_node takes an "~autorepeat_rate" parameter. If the linux kernal receives no events during the autorepeat interval, it will automatically repeat the last value of the joystick. This is an important safety feature, and allows users to recover from a joystick that has timed out.
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\subsubsection usage Usage
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\verbatim
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$ joy [standard ROS args]
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\endverbatim
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\subsubsection topic ROS topics
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Subscribes to (name / type):
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- None
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Publishes to (name / type):
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- \b "joy/Joy" : Joystick output. Axes are [-1, 1], buttons are 0 or 1 (depressed).
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\subsubsection parameters ROS parameters
46
- \b "~dev" : Input device for joystick. Default: /dev/input/js0
47
- \b "~deadzone" : Output is zero for axis in deadzone. Range: [-0.9, 0.9]. Default 0.05
48
- \b "~autorepeat_rate" : If no events, repeats last known state at this rate. Defualt: 0 (disabled)
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- \b "~coalesce_interval" : Waits for this interval (seconds) after receiving an event. If multiple events happen in this interval, only one message will be sent. Reduces number of messages. Default: 0.001.
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<hr>
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*/
joy/.svn/text-base/manifest.xml.svn-base
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<package>
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  <author>Morgan Quigley, Brian Gerkey, Kevin Watts and Blaise Gassend</author>
3
  <description brief="ROS driver for a generic Linux joystick.">
4
    The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.
5
  </description>
6

  
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  <license>BSD</license>
8
  <url>http://www.ros.org/wiki/joy</url>
9
  <review status="Doc reviewed" notes="reviewed 10-1-2009"/>
10
  <depend package="roscpp"/>
11
  <depend package="diagnostic_updater"/>
12
  <depend package="sensor_msgs"/>
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  <depend package="rosbag"/>
15
  <export>
16
    <rosbag migration_rule_file="migration_rules/Joy.bmr"/>
17
  </export>
18

  
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  <rosdep name="joystick"/>
20
  <platform os="ubuntu" version="9.04"/>
21
  <platform os="ubuntu" version="9.10"/>
22
  <platform os="ubuntu" version="10.04"/>
23
</package>
joy/.svn/text-base/txjoy.svn-base
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#! /bin/sh
2
echo
3
echo '****************************************************************'
4
echo '****************************************************************'
5
echo $0 is deprecated. Please use joy_node instead.
6
echo '****************************************************************'
7
echo '****************************************************************'
8
echo
9
rosrun joy joy_node "$@"
10
echo
11
echo '****************************************************************'
12
echo '****************************************************************'
13
echo $0 is deprecated. Please use joy_node instead.
14
echo '****************************************************************'
15
echo '****************************************************************'
16
echo
joy/CMakeLists.txt
1
cmake_minimum_required(VERSION 2.4.6)
2
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
3
rosbuild_init()
4
rosbuild_genmsg()
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# Look for <linux/joystick.h>
7
include(CheckIncludeFiles)
8
check_include_files(linux/joystick.h HAVE_LINUX_JOYSTICK_H)
9
if(HAVE_LINUX_JOYSTICK_H)
10
  include_directories(msg/cpp)
11
  rosbuild_add_executable(joy_node joy_node.cpp)
12
else(HAVE_LINUX_JOYSTICK_H)
13
  message("Warning: no <linux/joystick.h>; won't build joy node")
14
endif(HAVE_LINUX_JOYSTICK_H)
15

  
16
#rosbuild_add_pyunit(test/test_joy_msg_migration.py)
joy/Makefile
1
include $(shell rospack find mk)/cmake.mk
joy/build/CMakeCache.txt
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# This is the CMakeCache file.
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# For build in directory: /home/pdeo/quadrotor/joy/build
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# It was generated by CMake: /usr/bin/cmake
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# You can edit this file to change values found and used by cmake.
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# If you do not want to change any of the values, simply exit the editor.
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# If you do want to change a value, simply edit, save, and exit the editor.
7
# The syntax for the file is as follows:
8
# KEY:TYPE=VALUE
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# KEY is the name of a variable in the cache.
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# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!.
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# VALUE is the current value for the KEY.
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########################
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# EXTERNAL cache entries
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########################
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//Path to a program.
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CMAKE_AR:FILEPATH=/usr/bin/ar
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//For backwards compatibility, what version of CMake commands and
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// syntax should this version of CMake try to support.
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CMAKE_BACKWARDS_COMPATIBILITY:STRING=2.4
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//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
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// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
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CMAKE_BUILD_TYPE:STRING=
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//Enable/Disable color output during build.
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CMAKE_COLOR_MAKEFILE:BOOL=ON
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CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
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//Flags used by the linker during Release with Debug Info builds.
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//If set, runtime paths are not added when using shared libraries.
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CMAKE_SKIP_RPATH:BOOL=NO
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//Path to a program.
144
CMAKE_STRIP:FILEPATH=/usr/bin/strip
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//No help, variable specified on the command line.
147
CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=/opt/ros/electric/ros/core/rosbuild/rostoolchain.cmake
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//If true, cmake will use relative paths in makefiles and projects.
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CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
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//If this value is on, makefiles will be generated without the
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// .SILENT directive, and all commands will be echoed to the console
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// during the make.  This is useful for debugging only. With Visual
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// Studio IDE projects all commands are done without /nologo.
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CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
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//Single output directory for building all executables.
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EXECUTABLE_OUTPUT_PATH:PATH=
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//gtest-config executable
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//Single output directory for building all libraries.
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LIBRARY_OUTPUT_PATH:PATH=
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PROJECTCONFIG:FILEPATH=PROJECTCONFIG-NOTFOUND
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Project_BINARY_DIR:STATIC=/home/pdeo/quadrotor/joy/build
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USERCONFIG:FILEPATH=USERCONFIG-NOTFOUND
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//Path to a file.
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_file_name:FILEPATH=/home/pdeo/quadrotor/joy/joy_node.cpp
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//Value Computed by CMake
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joy_BINARY_DIR:STATIC=/home/pdeo/quadrotor/joy/build
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joy_SOURCE_DIR:STATIC=/home/pdeo/quadrotor/joy
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