How do I add new plug-ins for jsk_teleop_joy?

[weiqiyang]

I am trying to add some new plug-ins to jsk_teleop_joy. As a test, I copied jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_pose_6d.py, and renamed it as jyo_pose_6d.py. I also changed the class name in the file from JoyPose6D to JyoPose6D.

But when I ran the launch file, it gave an error message as bellow, and MyPose6D was not showed in the overlay menu.

[ERROR] [WallTime: 1555408864.470235] cannot find JyoPose6D in plugins for jsk_teleop_joy

The launch file was as the following.

<launch>
  <arg name="CONTROLLER_TYPE" default="auto" />
  <arg name="DEV" default="/dev/input/js0" />
  <arg name="POSE_REMAP" default="joy_pose" />
  <node pkg="joy" type="joy_node" name="joy_driver" output="screen" >
    <param name="dev" type="string" value="$(arg DEV)" />
    <param name="deadzone" value="0.2" />
    <param name="autorepeat_rate" value="40" />
    <param name="coalesce_interval" value="0.025" />
  </node>
  <node pkg="jsk_teleop_joy" type="joy.py" name="joy" output="screen"
        clear_params="true">
    <param name="controller_type" value="$(arg CONTROLLER_TYPE)" />
    <rosparam subst_value="true">
      plugins:
        'Pose6D':
           class: 'JoyPose6D'
           args:
             publish_pose: True
             pose: $(arg POSE_REMAP)
             follow_view: true
        'Verbose':
           class: 'VerboseStatus'
           args:
             publish_pose: True
             pose: $(arg POSE_REMAP)
             follow_view: true
        'MyPose6D':
           class: 'JyoPose6D'
           args:
             publish_pose: True
             pose: $(arg POSE_REMAP)
             follow_view: true
    </rosparam>
  </node>
</launch>

What are the additional steps I have to do to add a new plug-in?

[k-okada]

i think you need to update https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_teleop_joy/plugin.xml

◉ Kei Okada

2019年4月16日(火) 19:42 Weiqi Yang notifications@github.com:

I am trying to add some new plug-ins to jsk_teleop_joy. As a test, I copied jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_pose_6d.py, and renamed it as jyo_pose_6d.py. I also changed the class name in the file from JoyPose6D to JyoPose6D.

But when I ran the launch file, it gave an error message as bellow, and MyPose6D was not showed in the overlay menu.

[ERROR] [WallTime: 1555408864.470235] cannot find JyoPose6D in plugins for jsk_teleop_joy

The launch file was as the following.

plugins: 'Pose6D': class: 'JoyPose6D' args: publish_pose: True pose: $(arg POSE_REMAP) follow_view: true 'Verbose': class: 'VerboseStatus' args: publish_pose: True pose: $(arg POSE_REMAP) follow_view: true 'MyPose6D': class: 'JyoPose6D' args: publish_pose: True pose: $(arg POSE_REMAP) follow_view: true

What are the additional steps I have to do to add a new plug-in?

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[weiqiyang]

It works! Thank you!