autoware_joy_controller#

Role#

autoware_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 autoware_joy_controller joy_controller.launch.xml

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

# Override the param file
ros2 launch autoware_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_control_msgs::msg::Control	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_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