joy

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Revision 62 as of 2013-08-09 23:00:55

Show EOL distros:

See joy on index.ros.org for more info including anything ROS 2 related.

Documentation Status

joystick_drivers: cwiid | joy | ps3joy | spacenav | spacenav_node | wiimote

Package Summary

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Author: Morgan Quigley, Brian Gerkey, Kevin Watts and Blaise Gassend
License: BSD
Repository: ros-pkg
Source: svn https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers/tags/joystick_drivers-1.4.2

joystick_drivers: cwiid | joy | ps3joy | spacenav | spacenav_node | wiimote

Package Summary

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Author: Morgan Quigley, Brian Gerkey, Kevin Watts and Blaise Gassend
License: BSD
Source: svn https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers/branches/electric_devel

joystick_drivers: joy | ps3joy | spacenav | spacenav_node | wiimote

Package Summary

The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Author: Morgan Quigley, Brian Gerkey, Kevin Watts and Blaise Gassend
License: BSD
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: joystick_drivers-1.8)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: joystick_drivers-1.9)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: hydro-devel)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Links

Dependencies (4)
Used by (7)

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Links

Dependencies (4)
Used by (4)

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)

joystick_drivers: joy | ps3joy | spacenav_node | wiimote

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: developed
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: melodic-devel)

joystick_drivers: joy | spacenav_node

Package Summary

ROS driver for a generic Linux joystick. The joy package contains joy_node, a node that interfaces a generic Linux joystick to ROS. This node publishes a "Joy" message, which contains the current state of each one of the joystick's buttons and axes.

Maintainer status: maintained
Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
Author: Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
License: BSD
Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: main)

Contents

Supported Hardware
API Stability
Nodes
1. joy_node.py
  1. Published Topics
  2. Parameters
Using this Package
Application
1. Microsoft Xbox 360 Wireless Controller for Windows
2. Microsoft Xbox 360 Wireless Controller for Linux

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.

Official Documentation

Nodes

joy_node.py

The joy_node provides a generic Linux joystick node.

Published Topics

joy (joy/Joy)

Outputs the joystick state.

joy (sensor_msgs/Joy)

Outputs the joystick state.

Parameters

~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 an axis's range before that axis will output a non-zero value. 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 previously sent message.

~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 separate event, coalescing greatly reduces the rate at which messages are sent. This option can also be used to limit the rate of outgoing messages. Button events are always sent out immediately to avoid missing button presses.

Using this Package

For an example of using joy_node to control a teleoperation node with a joystick, 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.

Application

Microsoft Xbox 360 Wireless Controller for Windows

Table of index number of /joy.buttons:

Index	Button name on the actual controller
0	A
1	B
2	X
3	Y
4	LB
5	RB
7	start
8	power
10	cross key up
11	cross key down
12	cross key left
13	cross key right
14	back

Microsoft Xbox 360 Wireless Controller for Linux

Table of index number of /joy.buttons:

Index	Button name on the actual controller
0	A
1	B
2	X
3	Y
4	LB
5	RB
6	back
7	start
8	power
9	Button stick left
10	Button stick right

Table of index number of /joy.axis:

Index	Axis name on the actual controller
0	Left/Right Axis stick left
1	Up/Down Axis stick left
2	Left/Right Axis stick right
3	Up/Down Axis stick right
4	RT
5	LT
6	cross key left/right
7	cross key up/down