:floppy_disk: l3xz_joy

A generic PS3 joystick driver for feeding the l3xz_teleop node.

How-to-build

cd $COLCON_WS/src
git clone https://github.com/107-systems/l3xz_joy
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select l3xz_joy

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch l3xz_joy joy.py

Display the published messages by

ros2 topic echo /l3xz/joy

Interface Documentation

Published Topics

Default name	Type
/joy	sensor_msgs/Joy

Parameters

Name	Default	Description
joy_dev_node	/dev/input/js0	Name of input device node under which joystick is registered in Linux.
joy_topic	/joy	Name of topic for publishing the joystick message.
joy_topic_publish_period_ms	50	Publishing period for the joystick message in milliseconds (ms).
joy_topic_deadline_ms	100	Deadline in milliseconds within which publishing of a new joystick message is expected.
joy_topic_liveliness_lease_duration	1000	The time within which the RMW node or publisher must show that it is alive.
joy_deadzone	0.01	Deadzone of the joystick, if the axis value is below this value than 0.0 is reported instead.