joy_controller

Role

joy_controller is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.

Usage

ROS 2 launch

# With default config (ds4)
ros2 launch joy_controller joy_controller.launch.xml

# Default config but select from the existing parameter files
ros2 launch joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox

# Override the param file
ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml

Input / Output

Input topics

Name	Type	Description
~/input/joy	sensor_msgs::msg::Joy	joy controller command
~/input/odometry	nav_msgs::msg::Odometry	ego vehicle odometry to get twist

Output topics

Name	Type	Description
~/output/control_command	autoware_auto_control_msgs::msg::AckermannControlCommand	lateral and longitudinal control command
~/output/external_control_command	tier4_external_api_msgs::msg::ControlCommandStamped	lateral and longitudinal control command
~/output/shift	tier4_external_api_msgs::msg::GearShiftStamped	gear command
~/output/turn_signal	tier4_external_api_msgs::msg::TurnSignalStamped	turn signal command
~/output/gate_mode	tier4_control_msgs::msg::GateMode	gate mode (Auto or External)
~/output/heartbeat	tier4_external_api_msgs::msg::Heartbeat	heartbeat
~/output/vehicle_engage	autoware_auto_vehicle_msgs::msg::Engage	vehicle engage

Parameters

Parameter	Type	Description
joy_type	string	joy controller type (default: DS4)
update_rate	double	update rate to publish control commands
accel_ratio	double	ratio to calculate acceleration (commanded acceleration is ratio * operation)
brake_ratio	double	ratio to calculate deceleration (commanded acceleration is -ratio * operation)
steer_ratio	double	ratio to calculate deceleration (commanded steer is ratio * operation)
steering_angle_velocity	double	steering angle velocity for operation
accel_sensitivity	double	sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))
brake_sensitivity	double	sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))
raw_control	bool	skip input odometry if true
velocity_gain	double	ratio to calculate velocity by acceleration
max_forward_velocity	double	absolute max velocity to go forward
max_backward_velocity	double	absolute max velocity to go backward
backward_accel_ratio	double	ratio to calculate deceleration (commanded acceleration is -ratio * operation)

P65 Joystick Key Map

Action	Button
Acceleration	R2
Brake	L2
Steering	Left Stick Left Right
Shift up	Cursor Up
Shift down	Cursor Down
Shift Drive	Cursor Left
Shift Reverse	Cursor Right
Turn Signal Left	L1
Turn Signal Right	R1
Clear Turn Signal	A
Gate Mode	B
Emergency Stop	Select
Clear Emergency Stop	Start
Autoware Engage	X
Autoware Disengage	Y
Vehicle Engage	PS
Vehicle Disengage	Right Trigger

DS4 Joystick Key Map

Action	Button
Acceleration	R2, ×, or Right Stick Up
Brake	L2, □, or Right Stick Down
Steering	Left Stick Left Right
Shift up	Cursor Up
Shift down	Cursor Down
Shift Drive	Cursor Left
Shift Reverse	Cursor Right
Turn Signal Left	L1
Turn Signal Right	R1
Clear Turn Signal	SHARE
Gate Mode	OPTIONS
Emergency Stop	PS
Clear Emergency Stop	PS
Autoware Engage	○
Autoware Disengage	○
Vehicle Engage	△
Vehicle Disengage	△

XBOX Joystick Key Map

Action	Button
Acceleration	RT
Brake	LT
Steering	Left Stick Left Right
Shift up	Cursor Up
Shift down	Cursor Down
Shift Drive	Cursor Left
Shift Reverse	Cursor Right
Turn Signal Left	LB
Turn Signal Right	RB
Clear Turn Signal	A
Gate Mode	B
Emergency Stop	View
Clear Emergency Stop	Menu
Autoware Engage	X
Autoware Disengage	Y
Vehicle Engage	Left Stick Button
Vehicle Disengage	Right Stick Button