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Supported Hardware

This node should work with any joystick that is supported by linux.

API Stability

The ROS API of this node should be considered stable.

Nodes

joy_node

The joy_node provides a generic linux joystick node.

Published topics

joy/Joy (joy/Joy)

• outputs the joystick state

Parameters used

~dev (string, default: /dev/input/js0)

• Linux joystick device from which to read joystick events.

~deadzone (double, default: 0.05)

• Amount by which the joystick has to move before it is considered to be off-center. This parameter is specified relative to an axis normalized between -1 and 1. Thus, 0.1 means that the joystick has to move 10% of the way to the edge of the joystick's range before any motion is considered. Linux does its own deadzone processing, so in many cases this value can be set to zero.

~autorepeat_rate (double, default: 0.0 (disabled))

• Rate in Hz at which a joystick that has a non-changing state will resend the previous message it sent.

~coalesce_interval (double, default: 0.001)

• Axis events that are received within coalesce_interval (seconds) of each other are sent out in a single ROS message. Since the kernel sends each axis motion as a seperate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Buttons are always sent out immediately to avoid missing button presses.

Using joy

To understand how to use the joy with a computer and write a teleoperation node to interface with it see the tutorials.

In some cases, multiple joysticks may control a single robot. For example, a user may use the default joystick to drive a robot, but a second user may wish to use a different kind. Since the button mappings on each joystick may be different, it will be necessary to remap buttons on one joystick so they can match. See the Joystick Remapper package for details.