IndyAV Joydrive Utility

How to Use

Setting up an Xbox 360 controller

roslaunch indyav_launch gazebo.launch

Plug in the controller and check to see if it is recognized. ls /dev/input/ This outputs a list of input devices in the format shown below:

by-id    event0  event2  event4  event6  event8  mouse0  mouse2  uinput
by-path  event1  event3  event5  event7  js0     mice    mouse1

Joysticks will be listed as jsX.

Running the utility

Launch the Joydrive. roslaunch indyav_launch joydrive.launch By default, js0 is used by the joydrive utility. To change the input device, pass the name of the input device using the “js” argument. roslaunch indyav_launch joydrive.launch js:=js1

In a new panel, launch Gazebo for IndyAV. roslaunch indyav_launch gazebo.launch

In a new panel, launch RVIZ for IndyAV. indyviz

In a new panel, launch the Gazebo Client. gazebogui

Using the utility

Moving the left joystick left and right steers the car.

Depressing the right trigger accelerates the car. Releasing the trigger brakes the car.

Optionally, one can view the values for the wheel velocity and steering angle by running the following in new panels: rostopic echo /throttle rostopic echo /steering