Setup a Controller

This tutorial will show you how to find your controller layout and add it as a configuration.

1. Connect the controller to your computer

Note

You may need to download additional drivers. (i.e drivers for ps4 controller )

2. Add new controller to conf file.

# Add to ../crazyflie_charles/ros_ws/src/formation_manager/conf/swarm_conf.yaml
controller_name:
    axes: # Axes start at 0
        x: _
        y: _
        z: _
        yaw: _

    buttons:
        '0': _
        '1': _
        '2': _

    buttons_axes:
        '-0': DL
        '0' : DR
        '1' : DU
        '-1': DD

    max_goal:
        x: 0.20
        y: 0.20
        z: 0.10
        yaw: 0.20

2. Read controller input

   $ rosrun joy joy_node
   

3. Map joystick controls

   3.1. In a new terminal, print information

   $ rostopic echo /joy
   

   3.2 Add buttons to conf file

   Find number of each button.

   

   Result of pressing X button. When can then map X to button #2

   controller_name:
       ...
   
       buttons:
           '0': _
           '1': _
           '2': X
   
       ...
   

   3.3 Add axes to conf file

   You have four controls to map: x position, y position, z position and yaw.

   Let’s say you want to map the horizontal right stick to yaw control and get this result when moving the stick to the left.

   

   Result of moving the right stick to the left.

   Based on the picture, we can find that the horizontal right stick axis number is 2. Also, since moving it to the left gives a positive result, the axis number will be negative:

   controller_name:
       ...
   
       axes:
           x:
           y:
           z:
           yaw: -2
   
   
       ...
   

   Repeat this for all controls you wish to map.

4. Add controller to API:

   # .../crazyflie_charles/ros_ws/src/swarm_manager/scripts/swarm_api/api.py
   class SwarmAPI(object):
   ...
   def start_joystick(self, joy_type=""):
   """Initialize joystick node
   
       Possible types are:
           - ds4
           - ADD NEW CONTROLLER
   
       ...
   """
   ...
   

5. Try new controller with api by using

   SwarmAPI.start_joystick("new_controller")