Hood NUC Joy 202006 Notes and Log

joy20200615.txt

6/15/20

https://index.ros.org/p/joy/github-ros2-joystick_drivers/#dashing

Logitech Dual Action
G-UF13A
VV811
https://support.logi.com/hc/en-us/articles/360024320753

Indigo
http://10.0.0.9/wiki/index.php/TB3_Joy_Stick_Teleop
http://10.0.0.9/wiki/index.php/Joystick
http://10.0.0.9/wiki/index.php/ROS_Teleop


current status
https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_basic_operation/#ros-2-basic-operation

http://10.0.0.9/wiki/index.php/Hood_NUC_ROS2_Joystick_202004#Execute



---- bringup
ros2 launch turtlebot3_bringup robot.launch.py

chmod 666 /dev/input/ttyjxxx
ros2 run joy joy_node

ros2 run teleop_twist_joy teleop_node



also tried
ros2 run joy joy_node _dev_name:="Microsoft X-Box 360 pad"
or
ros2 run joy joy_node _dev_name:="*"
[INFO] [joy_node]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.

----

find joy_node
eepp@hood:teleop_twist_joy$ apt-cache search joy_node
ros-bouncy-joy - ROS2 driver for a generic Linux joystick.
ros-crystal-joy - ROS2 driver for a generic Linux joystick.
ros-dashing-joy - ROS2 driver for a generic Linux joystick.
ros-eloquent-joy - ROS2 driver for a generic Linux joystick.

---- source

https://github.com/ros2/joystick_drivers/blob/dashing/joy/src/joy_node_linux.cpp
navigate here by clicking on dashing joystick_drivers/joy for README.md

---- echo topics

ros2 topic echo joy
---
header:
  stamp:
    sec: 1592264186
    nanosec: 970093009
  frame_id: joy
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]
---

parameters

https://index.ros.org/doc/ros2/Tutorials/
https://index.ros.org/doc/ros2/Tutorials/Parameters/Understanding-ROS2-Parameters/

eepp@hood:~$ ros2 param list
/diff_drive_controller:
  odometry.child_frame_id
  odometry.frame_id
  odometry.publish_tf
  odometry.use_imu
  use_sim_time
/joy_node:
  autorepeat_rate
  coalesce_intervale
  deadzone
  default_trig_val
  dev
  dev_name
  sticky_buttons
  use_sim_time
/launch_ros:
  use_sim_time
/robot_state_publisher:
  robot_description
  use_sim_time
/rqt_gui_py_node_31065:
  use_sim_time
/turtlebot3_node:
  motors.profile_acceleration
  motors.profile_acceleration_constant
  opencr.baud_rate
  opencr.id
  opencr.protocol_version
  sensors.bumper_1
  sensors.bumper_2
  sensors.illumination
  sensors.ir
  sensors.sonar
  use_sim_time
  wheels.radius
  wheels.separation


eepp@hood:lib$ ros2 param get joy_node dev_name
String value is: Microsoft
eepp@hood:lib$ ros2 param set joy_node dev_name "Microsoft"
Set parameter successful
eepp@hood:lib$ ros2 param get joy_node dev_name
String value is: Microsoft
e

eepp@hood:~$ ros2 param get joy_node dev
String value is: /dev/input/js0


after start up

eepp@hood:~$ ros2 param get joy_node dev_name
String value is: 
eepp@hood:~$ ros2 param get joy_node autorepeat_rate
Double value is: 20.0
eepp@hood:~$ ros2 param get joy_node coalesce_intervale
Double value is: 0.001
eepp@hood:~$ ros2 param get joy_node deadzone
Double value is: 0.05
eepp@hood:~$ ros2 param get joy_node default_trig_val
Boolean value is: False
eepp@hood:~$ ros2 param get joy_node sticky_buttons
Boolean value is: False
eepp@hood:~$ ros2 param get joy_node use_sim_time
Boolean value is: False
eepp@hood:~$ ros2 param get joy_node dev
String value is: /dev/input/js0



eepp@hood:~$ ros2 run teleop_twist_joy teleop_node
[INFO] [TeleopTwistJoy]: Teleop enable button 5.
[INFO] [TeleopTwistJoy]: Linear axis x on 5 at scale 0.500000.
[INFO] [TeleopTwistJoy]: Angular axis yaw on 2 at scale 0.500000.


eepp@hood:lib$ ros2 param list
/teleop_twist_joy_node:
  axis_angular.pitch
  axis_angular.roll
  axis_angular.yaw
  axis_linear.x
  axis_linear.y
  axis_linear.z
  enable_button
  enable_turbo_button
  scale_angular.pitch
  scale_angular.roll
  scale_angular.yaw
  scale_angular_turbo.pitch
  scale_angular_turbo.roll
  scale_angular_turbo.yaw
  scale_linear.x
  scale_linear.y
  scale_linear.z
  scale_linear_turbo.x
  scale_linear_turbo.y
  scale_linear_turbo.z
  use_sim_time


DualShock ps3
https://en.wikipedia.org/wiki/DualShock

Dual Action
analog sticks
https://en.wikipedia.org/wiki/Analog_stick

playstaton 3 accessories
https://en.wikipedia.org/wiki/Analog_stick


--------------------
plugged in usb robotis 401 dongle

Jun 16 11:31:50 hood kernel: [ 4471.171549] usb 2-1.4: new full-speed USB device number 8 using xhci_hcd
Jun 16 11:31:50 hood kernel: [ 4471.278290] usb 2-1.4: New USB device found, idVendor=0403, idProduct=6001, bcdDevice= 6.00
Jun 16 11:31:50 hood kernel: [ 4471.278296] usb 2-1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
Jun 16 11:31:50 hood kernel: [ 4471.278299] usb 2-1.4: Product: FT232R USB UART
Jun 16 11:31:50 hood kernel: [ 4471.278302] usb 2-1.4: Manufacturer: FTDI
Jun 16 11:31:50 hood kernel: [ 4471.278305] usb 2-1.4: SerialNumber: A601NTJL
Jun 16 11:23:19 hood rtkit-daemon[1172]: message repeated 3 times: [ Supervising 5 threads of 2 processes of 1 users.]
Jun 16 11:31:50 hood mtp-probe: checking bus 2, device 8: "/sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.4"
Jun 16 11:31:50 hood mtp-probe: bus: 2, device: 8 was not an MTP device
Jun 16 11:31:50 hood kernel: [ 4471.301837] usbcore: registered new interface driver usbserial_generic
Jun 16 11:31:50 hood kernel: [ 4471.301849] usbserial: USB Serial support registered for generic
Jun 16 11:31:50 hood kernel: [ 4471.306113] usbcore: registered new interface driver ftdi_sio
Jun 16 11:31:50 hood kernel: [ 4471.306128] usbserial: USB Serial support registered for FTDI USB Serial Device
Jun 16 11:31:50 hood kernel: [ 4471.306231] ftdi_sio 2-1.4:1.0: FTDI USB Serial Device converter detected
Jun 16 11:31:50 hood kernel: [ 4471.306313] usb 2-1.4: Detected FT232RL
Jun 16 11:31:50 hood kernel: [ 4471.307008] usb 2-1.4: FTDI USB Serial Device converter now attached to ttyUSB0
Jun 16 11:31:50 hood upowerd[1126]: unhandled action 'bind' on /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.4
Jun 16 11:31:50 hood snapd[608]: hotplug.go:199: hotplug device add event ignored, enable experimental.hotplug
Jun 16 11:31:50 hood upowerd[1126]: unhandled action 'bind' on /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.4/2-1.4:1.0
Jun 16 11:31:53 hood ModemManager[577]: <info>  Couldn't check support for device '/sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.4': not supported by any plugin
Jun 16 11:31:56 hood colord-sane: io/hpmud/pp.c 627: unable to read device-id ret=-1





eepp@hood:~$ lsusb
Bus 001 Device 002: ID 8087:8000 Intel Corp. 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 002: ID 05e3:0617 Genesys Logic, Inc. 
Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 002 Device 005: ID 8087:07dc Intel Corp. 
Bus 002 Device 003: ID 0483:5740 STMicroelectronics STM32F407
Bus 002 Device 008: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
Bus 002 Device 007: ID 046d:c216 Logitech, Inc. Dual Action Gamepad
Bus 002 Device 006: ID f617:0905  
Bus 002 Device 004: ID 413c:3200 Dell Computer Corp. Mouse
Bus 002 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub


see 
Bus 002 Device 008: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC



eepp@hood:~$ sudo ds4drv
[sudo] password for eepp: 
[info][controller 1] Created devices /dev/input/js1 (joystick) /dev/input/event12 (evdev) 
[info][bluetooth] Scanning for devices

eepp@hood:~$ ll /dev/input/js*
crw-rw-rw-+ 1 root input 13, 0 Jun 16 10:17 /dev/input/js0
crw-rw-r--+ 1 root input 13, 1 Jun 16 11:38 /dev/input/js1
eepp@hood:~$ ll /dev/ttyUSB0 
crw-rw-rw- 1 root dialout 188, 0 Jun 16 11:31 /dev/ttyUSB0




--- 06/18/20

eepp@hood:~$ mkdir -p eepp_ws/src
eepp@hood:~$ cd eepp_ws/
eepp@hood:eepp_ws$ colcon build --symlink-install
                     
Summary: 0 packages finished [0.17s]
eepp@hood:eepp_ws$ 


readme for key_teleop
https://index.ros.org/p/key_teleop/#dashing

https://github.com/ros-teleop/teleop_tools/tree/dashing-devel/key_teleop
This is also teloop_tools/key_teleop




did a download from
https://github.com/ros-teleop/teleop_tools/tree/dashing-devel/key_teleop
got teleop_tools-dashing-devel.zip


unzip
cd teleop_tools-dashing-devel/key_teleop

eepp@hood:key_teleop$ python3 setup.py build
running build
running build_py
creating build
creating build/lib
creating build/lib/key_teleop
copying key_teleop/key_teleop.py -> build/lib/key_teleop
copying key_teleop/__init__.py -> build/lib/key_teleop




TERMINAL 1
ros2 launch turtlebot3_bringup robot.launch.py

see
http://10.0.0.9/wiki/index.php/Hood_NUC_Bringup_2_Dashing_202003

TERMINAL 2
pwd
/home/eepp/eepp_ws/src/teleop_tools-dashing-devel/key_teleop/build/lib/key_teleop

$ python3 key_teleop.py




-----

https://github.com/ros2/joystick_drivers/blob/dashing/joy/

https://github.com/ros2

https://github.com/ros2

https://github.com/ros2/teleop_twist_keyboard
------------------