From c59346a9ca88ac4277dcfccfd07455d2441e8d90 Mon Sep 17 00:00:00 2001 From: kobayashina Date: Thu, 28 Sep 2023 15:48:54 +0900 Subject: [PATCH 1/4] fix cmd_vel decided by LStick --- README.md | 5 +++++ media/joy2vel.png | Bin 0 -> 87377 bytes p9n_node/src/teleop_twist_joy_node.cpp | 10 +++++++--- 3 files changed, 12 insertions(+), 3 deletions(-) create mode 100644 media/joy2vel.png diff --git a/README.md b/README.md index 6eafd13..ca17395 100644 --- a/README.md +++ b/README.md @@ -71,6 +71,11 @@ void Example::onJoyCallback(sensor_msgs::msg::Joy::ConstSharedPtr joy_msg) { | L2 | `float` | `pressedL2Analog();` | `-1.0` : Pressed, `1.0` : Not pressed | +## Convert from Left Joy Stick to cmd_vel +`teleop_twist_joy_node` has cmd_vel publisher. +Velocity is decided as below. +![Image](./media/joy2vel.png) + ## Acknowledgements We acknowledge attribute and gratitude to the following resources in creating this package. diff --git a/media/joy2vel.png b/media/joy2vel.png new file mode 100644 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p9n_interface::HW_NAME::DUALSENSE); this->linear_max_speed_ = - this->declare_parameter("linear_speed", 0.2); + this->declare_parameter("linear_speed", 0.9); this->angular_max_speed_ = this->declare_parameter("angular_speed", 0.6); @@ -64,15 +64,19 @@ void TeleopTwistJoyNode::onJoy(Joy::ConstSharedPtr joy_msg) this->timer_watchdog_->reset(); this->p9n_if_->setJoyMsg(joy_msg); + const double PI = 3.14159; static bool stopped = true; if (this->p9n_if_->isTiltedStickL()) { auto twist_msg = std::make_unique(); twist_msg->linear.set__x(this->linear_max_speed_ * this->p9n_if_->tiltedStickLY()); - if (twist_msg->linear.x > 0) { + if (this->p9n_if_->tiltedStickLY() > sin(PI / 8)) { twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX()); - } else { + } else if (this->p9n_if_->tiltedStickLY() < sin(-PI / 8)) { twist_msg->angular.set__z(-this->angular_max_speed_ * this->p9n_if_->tiltedStickLX()); + } else { + twist_msg->linear.set__x(0.0); + twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX()); } this->twist_pub_->publish(std::move(twist_msg)); From f69a2c6153d6e598211611e2180c676e48f0f115 Mon Sep 17 00:00:00 2001 From: kobayashina Date: Thu, 28 Sep 2023 16:02:14 +0900 Subject: [PATCH 2/4] fix figure --- media/joy2vel.png | Bin 87377 -> 87175 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/media/joy2vel.png b/media/joy2vel.png index ba55ce83a05bf4163deb81b87cfcdc55414676f6..88e5dda2a14a85cebee146fd8ae87a7c3ec14d6b 100644 GIT binary patch literal 87175 zcmeEu1zeQdy0;)GiYOqUfFKG;N_Q&_64D_cF~ATrbV}JGAt?=#N{W;;1|cckp(vfw z{jHaoal7|E_nh;cd+)j5x!?I2Fza3Kis$)1xt=voRF!23PEwpaa^whsyquKUkt0U~ z!N2Qx$3V;b873X@1ItlO_WF_B)(g`|j<8WWN$WV-x|zdmU`Ob=B~ic8b8%QA9i8a8 zrRcf1jP2~$%;3fr4#u{QYzUYWXadh|k!EmnILr*yhl_)Y`znXvRW1Py4t{#>YaE>5 zKQ1mdZayA8RDWX&7y><@64C>1V`EIuCBw_c0fu7K;RM~UgWqnz5zcPlr<(wu5g!i| z`0bjVoefMIW}*lO^UCmY^MfIwR}|$mly1;-NrK;P;MOqkLl$Ogjf7s2v~)n)f)*K0 zPJT8H=nrUAH#RqRfd4WCv=x~)2 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zd@$Js3&l62;J?pEZk|ml8Y||JLf4ZpSE|D8_U}VKQidg+IxqB*-=H_b{kb-NxgAunA|D5SRmadCAc$dv~Nr^CAoY*iz zlV(huWR}W!=OP}<+e~57xDX{#2H+(OoEQPg;8?IH7j?s_cS9d>CSKmz>lU-1x9zqK zcqKJ`=5y83$>tH z-4z_@?+;6}%_H1yyLi+94yDK-X}WnyBFsY`X2GqjJ`Av$o(FT_)SgGd!EKz9;YtN} z+i6PEul9)@>=XO886fz3j!FT+uHU|!6Sb7CKG*-Ps|KuVZ~q&_NtrPBnuf|s%^XTv z$3ij1%Pqut2;_knl80+JpZe#)S&U^GmcA|i2M*|_j#sQeVkZl?bCMmF07Mz`L@%gX z!O&*By!&buVrXpPCr2!}Tpbr&p2(_H`lB;;A%#mn)4%ozA|m(-g9_}Cw8bVVGn^R@ zC$X$0BZDjpgE3Q-L7~vZMqUWo0Yh=Yc$^ zqF}O(<*gK0yMY5xcZ2g)A)ul%ZlK-3Q{`68e|+pCaH;DAaP$GSZw02IC?7tM4f%`< z4d4GI zc0535h$sLxtNYDaVbv>r{Oi}ROuMcrK{Q`z0R~OWqH*Xgmy!o9P=ZsY+L5;6}0wz>eVzYC1HidR=w zzIrYpcm3Km1)zt(p_2v7MO$acfO7CXpbPJP4z>kb|02jC<4w^0yP&+|sgNh;Ki@9) zu9$hBxL!=g%e3pzc-aXoC3pG<`~|970nDk_9EzaXq+(6Og%^iGIe-ylG4LL=RhM@Z z+SLE6AtzDX+?>7|lqg=k$_ifp4O%oLJOCCx2iVux0z=V-apA>sh=(|Ov=vPHw4Yl7 zg;P|3feQqoM++bC*tBU<;8!nIh^k#80#duLl!LNfl#qZ_bQ3hnBo;JWusE-23|OHi+&M5y0ZMqQVPU+&aWI0#9Bj`2FpzfmH9IGiT1&|6iST z_xW6C^qvBiOQ+}VJqI=$YV`!5vnRXoK|>$p7>5PGJh1W3&DV3FO2Gc}1SVC_C&(f! fqs9&Lu=~N?TYXAr%bw!L3_#%N>gTe~DWM4f#8aU| From d1c3046f8fa1c777c0d77f779ec03c1c8afeaa19 Mon Sep 17 00:00:00 2001 From: WATANABE Aoi <40206149+m12watanabe1a@users.noreply.github.com> Date: Fri, 24 Nov 2023 16:43:29 +0900 Subject: [PATCH 3/4] Update teleop_twist_joy_node.cpp --- p9n_node/src/teleop_twist_joy_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/p9n_node/src/teleop_twist_joy_node.cpp b/p9n_node/src/teleop_twist_joy_node.cpp index 7880b7b..6b937fa 100644 --- a/p9n_node/src/teleop_twist_joy_node.cpp +++ b/p9n_node/src/teleop_twist_joy_node.cpp @@ -23,7 +23,7 @@ TeleopTwistJoyNode::TeleopTwistJoyNode(const rclcpp::NodeOptions & options) const std::string hw_name = this->declare_parameter( "hw_type", p9n_interface::HW_NAME::DUALSENSE); this->linear_max_speed_ = - this->declare_parameter("linear_speed", 0.9); + this->declare_parameter("linear_speed", 0.2); this->angular_max_speed_ = this->declare_parameter("angular_speed", 0.6); From 74bfef339dad5fc0807a5c09d96c517e26f2fd96 Mon Sep 17 00:00:00 2001 From: m12watanabe1a <40206149+m12watanabe1a@users.noreply.github.com> Date: Fri, 24 Nov 2023 16:45:58 +0900 Subject: [PATCH 4/4] Optimize calculations --- p9n_node/include/p9n_node/teleop_twist_joy_node.hpp | 1 - p9n_node/src/teleop_twist_joy_node.cpp | 5 ++--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/p9n_node/include/p9n_node/teleop_twist_joy_node.hpp b/p9n_node/include/p9n_node/teleop_twist_joy_node.hpp index 5858b0f..2b396b5 100644 --- a/p9n_node/include/p9n_node/teleop_twist_joy_node.hpp +++ b/p9n_node/include/p9n_node/teleop_twist_joy_node.hpp @@ -32,7 +32,6 @@ class TeleopTwistJoyNode : public rclcpp::Node using Joy = sensor_msgs::msg::Joy; private: - float speed_factor_ = 1.0; double linear_max_speed_, angular_max_speed_; p9n_interface::HW_TYPE hw_type_; diff --git a/p9n_node/src/teleop_twist_joy_node.cpp b/p9n_node/src/teleop_twist_joy_node.cpp index 6b937fa..04cdb77 100644 --- a/p9n_node/src/teleop_twist_joy_node.cpp +++ b/p9n_node/src/teleop_twist_joy_node.cpp @@ -64,15 +64,14 @@ void TeleopTwistJoyNode::onJoy(Joy::ConstSharedPtr joy_msg) this->timer_watchdog_->reset(); this->p9n_if_->setJoyMsg(joy_msg); - const double PI = 3.14159; static bool stopped = true; if (this->p9n_if_->isTiltedStickL()) { auto twist_msg = std::make_unique(); twist_msg->linear.set__x(this->linear_max_speed_ * this->p9n_if_->tiltedStickLY()); - if (this->p9n_if_->tiltedStickLY() > sin(PI / 8)) { + if (this->p9n_if_->tiltedStickLY() > sin(M_PI * 0.125)) { twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX()); - } else if (this->p9n_if_->tiltedStickLY() < sin(-PI / 8)) { + } else if (this->p9n_if_->tiltedStickLY() < sin(-M_PI * 0.125)) { twist_msg->angular.set__z(-this->angular_max_speed_ * this->p9n_if_->tiltedStickLX()); } else { twist_msg->linear.set__x(0.0);