The Xbox One gamepad does not control the Arlobot speed or direction

[TCIII]

@chrisl8,

SBC: Rpi 4B/4G OS: Ubuntu MATE (focal 20.04) ROS: Noetic

I presently have my Xbox One paired and connected with the Ubuntu MATE OS.

I had to change "Xbox 360 Wireless Receiver" to "Xbox Wireless Controller" in 'find_xbox_controller.sh' otherwise my Xbox One is not detected.

Running the following results in:

thomas@thomas-desktop:~$ find_xbox_controller.sh /dev/input/js0

thomas@thomas-desktop:~$ ls -l /dev/input/js* crw-rw-r--+ 1 root input 13, 0 Jan 17 16:11 /dev/input/js0

Obviously the Xbox One is not using a USB wireless receiver which might cause an issue with the present software?

I used jstest to verify the gamepad hex keycodes and found the following:

Xbox One:

Left joystick vertical axis: 1

Left joystick horizontal axis: 0

Left button: 6

Right trigger; 4

Xbox 360 Wireless Game Controller:

From the opt/ros/noetic/share/teleop_twist_joy/config/xbox.config.yaml file:

Left thumbstick vertical: 1

Left thumbstick horizontal; 0

So both the Xbox One and Xbox 360 joystick (thumbstick) hex keycodes are in agreement.

Left trigger button: 2

Right trigger button: 5

So the Xbox One and Xbox 360 trigger button hex keycodes are not in agreement.

Steps to Duplicate Issue:

1. Set "hasXboxController": true, in 'personalDataForBehavior.json'
2. Ran 'start-robot.sh' At startup the Xbox Controller was found (My Xbox One is paired/connected with the Ubuntu MATE OS at /dev/input/js0) Under PARAMETERS the 'teleop_twist_joy' parameters were listed as found in the xbox.config.yaml file. Under NODES the joy_node (joy/joy_node) is listed. process [teleop_twist_joy-10]: started with pid [15539].
3. Start completed after establishing the serial connection with the PAB.
4. I could then put my hand in front of the front/rear PING sensors and obtain wheel movement (Escaping)

Expected Behavior;

According to the Arlobot writeup remote control with the Xbox 360 (Xbox One) gamepad should work as soon as you Start ROS, either with 'start-robot.sh' or with the Web Interface.

Actual Behavior:

No directional or speed control of the Arlobot wheels with the Xbox One left joystick.

Additional Information:

I observe the same behavior when using the Web Interface with ROS running. There is no wheel response when using the Xbox One gamepad left joystick. However I can control Arlobot with the Remote Control Panel using the Mouse Cursor so Motor Control is functional.

Suggestions to troubleshoot this issue.

Tom C

[chrisl8]

Did you get a chance to look at the blog link from the Readme here: https://ekpyroticfrood.net/?p=115

It has some guidance on how to use the joystick (you have to hold down a "trigger" button to make it move, to avoid it randomly moving due to joystick bumps or drift).

It also has some debugging ideas.

I will post some more suggestions here later when I have more time.

[TCIII]

@chrisl8,

Sorry, I failed to notice that it required a "trigger" button to be depressed to be able to use the left joystick on the Xbox One gamepad. Works fine now!

Therefore I will close this issue out. Tom C

[TCIII]

@chrisl8,

Issue closed out due to "Cockpit Error".

Tom C