Robot Operating System Ros Tutorial (ix) control of Operation Lever

For mobile robots, keyboard control is often not enough to meet our needs, before watching a lot of movies inside are using a joystick to control the robot, is really handsome, just I have a joystick here, then to try to feel.

Operation Lever (joystick) control will be more operational, many of ROS in the robot also with the operation of the bar code, only a simple transplant can be. We are using a Saitek rod, as shown in the following illustration:

The porting code used is the Python code in the Clearpath_husky robot.

Reference Link: Http://www.ros.org/wiki/joy

First, the test operation Lever Drive

First insert the interface of the joystick into the computer and enter it in the terminal:

ls/dev/input/

The display is as follows:

The JS0 represents our operating lever. Then test if the operation lever is valid, enter:

sudo jstest/dev/input/js0