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WHILL / ros_whill

ROS Package for WHILL Model CR
https://whill.jp/model-cr
MIT License
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How can I control whill with external joy controller? #23

Closed vachmas closed 4 years ago

vachmas commented 4 years ago

I would like to use external joy like logitech joystick to control the movement of the whill via ros package. How can I do this?

Thank in advance.

seiya0412 commented 4 years ago

Thank you for using WHILL Model CR and ros_whill package!

ros_whill node subscribes <ros_whill's node-name>/controller/joy topic whose type is sensor_msgs/Joy.

remap your joystick node's output to <ros_whill's node-name>/controller/joy, and it should work.

Note: axes[0] is longitudinal direction, and axes[1] is lateral direction.