joy_controller

To control the swarm with a joystick.

Sends button pressed to SwarmAPI through swarm_manager/JoyButton service.

ROS Features

Subscribed Topics

/joy(sensor_msgs/Joy)

Joystick input

Published Topics

/joy_swarm_vel (geometry_msgs/Twist)

Swarm velocity

Services

None

Services Called

/joy_button(swarm_manager/JoyButton)

From SwarmAPI

Parameters

~joy_topic(str, default:”joy”)

~sim(bool, default: False)

~teleop(bool, default: False)

~x_axis(int, default: 4)

~y_axis(int, default: 3)

~z_axis(int, default: 2)

~yaw_axis(int, default: 1)

~x_velocity_max(float, default: 2.0)

~y_velocity_max(float, default: 2.0)

~z_velocity_max(float, default: 2.0)

~yaw_velocity_max(float, default: 2.0)

~x_goal_max(float, default: 0.05)

~y_goal_max(float, default: 0.05)

~z_goal_max(float, default: 0.05)

~yaw_goal_max(float, default: 0.05)