Open 708yamaguchi opened 3 years ago
In this pull request, I add
launch_teleop
arg tofetch.launch.xml
likefetch.launch
infetch_bringup
. https://github.com/fetchrobotics/fetch_robots/blob/melodic-devel/fetch_bringup/launch/fetch.launchThis pull request allows us to operate the fetch in gazebo with joystick.
Example usage (with the joystick USB-connected):
roslaunch fetch_gazebo playground.launch joy_device:="/dev/input/js0"
hi~,I am trying to control the fetch with joystick in gazebo simulation. but it could not work though I follow your method to modify the ### fetch.launch.xml. Could you use the joystick to control Fetch in gazebo demo? Maybe I did not notice some step. Hope you reply. Thank you!
@treeofsun-god Thank you for using my pull request and sorry for the lack of explanation.
My environment is ROS melodic. To create the workspace, I did the following steps.
mkdir ~/fetch_gazebo_teleop_ws/src/ -p
cd ~/fetch_gazebo_teleop_ws/src/
# Here, copy the following .rosinstall
wstool update
rosdep install --from-paths . --ignore-src -y -r
cd ..
source /opt/ros/melodic/setup.bash
catkin build
.rosinstall
which I used in the above:
- git:
local-name: 708yamaguchi/fetch_gazebo
uri: https://github.com/708yamaguchi/fetch_gazebo.git
version: add-teleop
Then, I executed playground.launch
like below:
source /opt/ros/melodic/setup.bash
source ~/fetch_gazebo_teleop_ws/devel/setup.bash
roslaunch fetch_gazebo playground.launch joy_device:="/dev/input/js0"
When using this launch file, please make sure that
$ ls /dev/input/js0
If joy teleop is succeeded, you can see the /joy
topic like below:
# Move forward
$ rostopic echo /joy
header:
seq: 467
stamp:
secs: 37
nsecs: 152000000
frame_id: ''
axes: [-0.0, -0.0, 0.0, 1.0, -0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
---
Thanks,
In this pull request, I add
launch_teleop
arg tofetch.launch.xml
likefetch.launch
infetch_bringup
. https://github.com/fetchrobotics/fetch_robots/blob/melodic-devel/fetch_bringup/launch/fetch.launchThis pull request allows us to operate the fetch in gazebo with joystick.
Example usage (with the joystick USB-connected):