Joystick Teleop does not work with Husky at ROS Kinetic

asked 2022-09-21 16:05:17 -0500

msantos gravatar image


I am using ROS Kinetic due to some legacy packages and libs (I was using melodic previously). When I try to control the simulated Husky using the joystick it does not work. I have been through again the Tutorial. But it is still not reacting. Tested echoing the joy node and it seems to work perfectly invoking it by "rosparam set joy_node/dev "/dev/input/js0" && rosrun joy joy_node" in my launch script.

It was working perfectly on melodic after changing the PS4 joystick parameter to point towards js0 instead of PS4. But now on kinetic this trick also does not change anything.

Have someone faced the same issue in this distro and could give a clue about how to solve it?

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Can you please check if there is any data in rostopic joy by running rostopic echo joy?

ravijoshi gravatar image ravijoshi  ( 2022-09-22 01:02:51 -0500 )edit

Yes, there is data:

WARNING: no messages received and simulated time is active.
Is /clock being published?
  seq: 11
    secs: 1663872898
    nsecs: 791839267
  frame_id: ''
axes: [-1.0, -0.0, 0.0, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
  seq: 12
    secs: 1663872898
    nsecs: 991760977
  frame_id: ''
axes: [-0.0, -0.0, 0.0, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

Just after posting, I searched for this WARNING and made some changes as per this answer. But the problem is still there. No movement at all.

msantos gravatar image msantos  ( 2022-09-22 13:56:59 -0500 )edit

What I could notice after digging a bit into the rabbit hole is that none was publishing /joy_teleop/cmd_vel . Kept echoing it and nothing has been seen not even when pressing the buttons. Then I made some adjustments (copying the parameters from Husky ps4 to teleop_twist_joy ps3 file) and now it works. But I had to include the teleop_twist_joy in my launch list. It for me seems like a workaround. Should I assume as solution and close anyway?

msantos gravatar image msantos  ( 2022-09-22 15:05:18 -0500 )edit