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Package Summary
ROS Package for controlling the AStuff PACMod with a Joystick
- Maintainer status: developed
- Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
- Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
- License: MIT
- Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)
Package Summary
ROS Package for controlling the AStuff PACMod with a Joystick
- Maintainer status: developed
- Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
- Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
- License: MIT
- Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)
Package Summary
ROS Package for controlling the AStuff PACMod with a Joystick
- Maintainer status: developed
- Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
- Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
- License: MIT
- Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)
Package Summary
ROS Package for controlling the AStuff PACMod with a Joystick
- Maintainer status: developed
- Maintainer: AutonomouStuff Software Development Team <software AT autonomoustuff DOT com>
- Author: Joe Driscoll <jdriscoll AT autonomoustuff DOT com>
- License: MIT
- Source: git https://github.com/astuff/pacmod_game_control.git (branch: release)
A ROS package which supports controlling the AutonomouStuff PACMod drive-by-wire system with a standard game system controller using joy. This supports both pacmod and pacmod3.
Supported Controllers
It is very easy to add additional controllers. Simply add the new controller type to the GamepadType enum in include/globals.h and create new button mappings in src/startup_checks.cpp. The currently supported controllers are:
- Logitech F310
- Logitech G29 Steering Wheel and Pedals
- Nintendo Switch Wired Plus
- XBOX ONE Wired or Wireless Controller
Controller Button Functions
Shown below is the Logitech F310 controller. 
Button |
Action |
Notes |
Directional Pad (left-hand side) |
Headlights and Turn Signals |
|
Up |
Headlights |
Some vehicles only |
Left |
Left turn signal |
|
Right |
Right turn signal |
|
Down |
Hazards |
Some vehicles only |
Button Pad (right-hand side) |
Gear Selection |
|
A |
Drive |
|
B |
Reverse |
|
X |
Neutral |
|
Y |
Park |
|
Center region |
|
|
Back |
Enable/Disable |
'Back' and 'Start' buttons must be pressed simultaneously to enable by-wire mode. 'Back' button must be pressed to disable by-wire mode. |
Start |
Enable |
'Back' and 'Start' buttons must be pressed simultaneously to enable by-wire mode. |
Mode |
Not supported |
Do not use. Mode light should be OFF at all times. Pressing mode button will change button mapping. |
Joystick |
Steering |
Joystick click buttons unused |
Left joystick |
Steering |
Steering defaults to left joystick, but can be set to right joystick by operator. |
Right joystick |
Steering |
Only if set by operator; steering defaults to left joystick |
Left bumper |
Wiper |
Some vehicles only |
Left trigger |
Brake |
|
Right bumper |
Horn |
Some vehicles only |
Right trigger |
Throttle |
|
Parameters
~steering_stick
Sets whether the steering command should be controlled by the left or right joystick on a two-stick controller. Valid values are LEFT or RIGHT.
~pacmod_vehicle_type
Sets the type of vehicle which is being controlled. This manages vehicle-specific values like the available features and maximum steering angle. Valid values are:
POLARIS_GEM
POLARIS_RANGER
LEXUS_RX_450H
INTERNATIONAL_PROSTAR_122
FREIGHTLINER_CASCADIA
HEXAGON_TRACTOR
FORD_RANGER
TOYOTA_MINIVAN
VEHICLE_4
VEHICLE_5
VEHICLE_6
~controller_type
Sets the type of controller being used and associated button mappings. Valid values are:
LOGITECH_F310
HRI_SAFE_REMOTE
LOGITECH_G29
NINTENDO_SWITCH_WIRED_PLUS
XBOX_ONE
~steering_max_speed
The maximum rotational speed for the steering wheel in rad/s.
~max_veh_speed
The vehicle speed is used to scale the rotation rate of the steering wheel. This value is the speed, in m/s, at which the most restriction is placed on rotation rate. This helps controlability as speed increases.
~accel_scale_val
A scaling value (0.0 - 1.0) for the accelerator. 1.0 = full throttle range. 0.0 = no throttle control.
~brake_scale_val
A scaling value (0.0 - 1.0) for the brake. 1.0 = full braking range. 0.0 = no brake control.
