add joystick package

HiveCoreR0/src/joy_control/LICENSE

@@ -0,0 +1,202 @@
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HiveCoreR0/src/joy_control/joy_control/joy_control_node.py

@@ -0,0 +1,107 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Joy
+from std_msgs.msg import String
+
+class JoyControlNode(Node):
+    def __init__(self):
+        super().__init__('joy_control_node')
+        # 订阅joy话题
+        self.joy_subscriber = self.create_subscription(
+            Joy,
+            'joy',
+            self.joy_callback,
+            10
+        )
+        # 发布指令到joy_command话题
+        self.command_publisher = self.create_publisher(
+            String,
+            'joy_command',
+            10
+        )
+        # 罗技F710按键映射
+        self.button_map = {
+            0: 'A',
+            1: 'B',
+            2: 'X',
+            3: 'Y',
+            4: 'LB',
+            5: 'RB',
+            6: 'BACK',
+            7: 'START',
+            8: 'HOME',
+            9: '左遥杆按下',
+            10: '右摇杆按下'
+        }
+        # 罗技F710摇杆映射
+        self.axis_map = {
+            0: '方向键水平',
+            1: '方向键垂直',
+            2: 'LT',
+            3: '右摇杆水平',
+            4: '右摇杆垂直',
+            5: 'RT',
+            6: '左摇杆水平',
+            7: '左摇杆垂直'
+        }
+
+        self.default_buttons = [0]
+        self.default_axes = [0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0]
+
+        self.previous_buttons = self.default_buttons
+        self.previous_axes = self.default_axes
+
+
+        self.get_logger().info('Joy control node initialized')
+
+    def joy_callback(self, msg):
+        # 处理按键
+        #TODO: 暂时不用按键功能
+        
+        # 处理摇杆（死区0.1）
+        deadzone = 0.1
+        if msg.axes[0] != self.previous_axes[0] and msg.axes[0] > deadzone :
+            command = '左转'
+            self.command_publisher.publish(String(data=command))
+        
+        if msg.axes[0] != self.previous_axes[0] and msg.axes[0] < - deadzone :
+            command = '右转'
+            self.command_publisher.publish(String(data=command))
+        
+        if msg.axes[1] != self.previous_axes[1] and msg.axes[1] > deadzone :
+            command = '前进'
+            self.command_publisher.publish(String(data=command))
+        
+        if msg.axes[1] != self.previous_axes[1] and msg.axes[1] < - deadzone :
+            command = '后退'
+            self.command_publisher.publish(String(data=command))
+        
+        if msg.axes[7] != self.previous_axes[7] and msg.axes[7] > deadzone :
+            command = '上升'
+            self.command_publisher.publish(String(data=command))
+        
+        if msg.axes[7] != self.previous_axes[7] and msg.axes[7] < - deadzone :
+            command = '下降'
+            self.command_publisher.publish(String(data=command))
+
+        if msg.axes[0] != self.previous_axes[0] or msg.axes[1] != self.previous_axes[1] or msg.axes[7] != self.previous_axes[7]:
+            if msg.axes[0] == 0.0 and msg.axes[1] == 0.0 and msg.axes[7] == 0.0:
+                command = '停止'
+                self.command_publisher.publish(String(data=command))
+
+        self.previous_axes = msg.axes
+        
+def main(args=None):
+    rclpy.init(args=args)
+    node = JoyControlNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+    

HiveCoreR0/src/joy_control/launch/joy_control.launch.py

@@ -0,0 +1,26 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        # 启动joy_node
+        Node(
+            package='joy',
+            executable='joy_node',
+            name='joy_node',
+            parameters=[{
+                'dev': '/dev/input/js0',
+                'deadzone': 0.1,
+                'autorepeat_rate': 20.0
+            }]
+        ),
+        
+        # 启动joy_control_node
+        Node(
+            package='joy_control',
+            executable='joy_control_node',
+            name='joy_control_node',
+            output='screen'
+        )
+    ])
+    

HiveCoreR0/src/joy_control/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joy_control</name>
+  <version>0.0.0</version>
+  <description>Convert joy messages to control commands</description>
+  <maintainer email="your@email.com">Your Name</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>setuptools</buildtool_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>joy</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
+    

HiveCoreR0/src/joy_control/setup.cfg

@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/joy_control
+[install]
+install_scripts=$base/lib/joy_control
+    

HiveCoreR0/src/joy_control/setup.py

@@ -0,0 +1,29 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'joy_control'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Your Name',
+    maintainer_email='your@email.com',
+    description='Convert joy messages to control commands',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'joy_control_node = joy_control.joy_control_node:main',
+        ],
+    },
+)

HiveCoreR0/src/robot_bringup/launch/main.launch.py

@@ -16,7 +16,11 @@ def generate_launch_description():
         [control_pkg_share, "launch", "robot_control.launch.py"]
     )
 
-   
+    joy_pkg_share = FindPackageShare(package="joy_control")
+    joy_launch_path = PathJoinSubstitution(
+        [joy_pkg_share, "launch", "joy_control.launch.py"]
+    )
+
     include_simulation = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(mujoco_sim_launch_path),
     )
@@ -25,8 +29,14 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(control_launch_path),
     )
 
+    include_joy_control = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(joy_launch_path),
+    )
+
     return LaunchDescription([
         include_simulation,  # 启动仿真子launch
         
-        include_control      # 启动控制子launch
+        include_control,      # 启动控制子launch
+
+        include_joy_control  # 启动手柄控制子launch
     ])

HiveCoreR0/src/robot_control/include/input_device.hpp

@@ -18,7 +18,7 @@ enum class ControlCommand {
 // 输入设备类型
 enum class InputType {
     KEYBOARD,
-    GAMEPAD,
+    JOY,
     VOICE
 };
 
@@ -51,15 +51,15 @@ public:
 };
 
 // 手柄输入设备
-class GamepadInput : public InputDevice {
+class JoyInput : public InputDevice {
 public:
-    GamepadInput() : InputDevice(InputType::GAMEPAD) {
+    JoyInput() : InputDevice(InputType::JOY) {
         command = ControlCommand::NONE;
     }
     
     ControlCommand GetCommand() override;
     void SetCommand(ControlCommand command) override;
-    std::string GetDeviceName() const override { return "Gamepad"; }
+    std::string GetDeviceName() const override { return "JOY"; }
 };
 
 // 语音输入设备

HiveCoreR0/src/robot_control/include/robot_fsm.hpp

@@ -43,6 +43,7 @@ class RobotFsm : public rclcpp::Node
         rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr cmdPub_;
         rclcpp::Subscription<std_msgs::msg::String>::SharedPtr keyboadCommandSub_;
         rclcpp::Subscription<std_msgs::msg::String>::SharedPtr voiceCommandSub_;
+        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr joyCommandSub_;
         rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr jointStatesSub_;
 
         RobotState currentState_;
@@ -69,6 +70,7 @@ class RobotFsm : public rclcpp::Node
         void JointStatesCallback(const sensor_msgs::msg::JointState::SharedPtr msg);
         void KeyboardCommandCallback(const std_msgs::msg::String::SharedPtr msg);
         void VoiceCommandCallback(const std_msgs::msg::String::SharedPtr msg);
+        void JoyCommandCallback(const std_msgs::msg::String::SharedPtr msg);
 };
 
 #endif // ROBOT_FSM_H

HiveCoreR0/src/robot_control/src/input_device.cpp

@@ -11,11 +11,11 @@ void KeyboardInput::SetCommand(ControlCommand cmd) {
 }
 
 // 手柄输入处理（模拟实现）
-ControlCommand GamepadInput::GetCommand() {
+ControlCommand JoyInput::GetCommand() {
     return command;
 }
 
-void GamepadInput::SetCommand(ControlCommand cmd) {
+void JoyInput::SetCommand(ControlCommand cmd) {
     command = cmd;
 }
 

HiveCoreR0/src/robot_control/src/robot_fsm.cpp

@@ -11,7 +11,7 @@ RobotFsm::RobotFsm() : Node("keyboard_control_node"){
     // 添加输入设备
     AddInputDevice(InputType::KEYBOARD, std::make_unique<KeyboardInput>());
     AddInputDevice(InputType::VOICE, std::make_unique<VoiceInput>());
-    AddInputDevice(InputType::GAMEPAD, std::make_unique<GamepadInput>());
+    AddInputDevice(InputType::JOY, std::make_unique<JoyInput>());
 
      // 创建发布者
     cmdPub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>("joint_commands", 10);
@@ -25,6 +25,9 @@ RobotFsm::RobotFsm() : Node("keyboard_control_node"){
     // 创建订阅者（接收来自语音指令）
     voiceCommandSub_ = this->create_subscription<std_msgs::msg::String>("voice_command", 10,std::bind(&RobotFsm::VoiceCommandCallback, this, std::placeholders::_1));
 
+    // 创建订阅者（接收来自游戏手柄指令）
+    joyCommandSub_ = this->create_subscription<std_msgs::msg::String>("joy_command", 10,std::bind(&RobotFsm::JoyCommandCallback, this, std::placeholders::_1));
+
     lastTime_ = this->now();  // 初始化时间
 
     // 创建定时器，每10ms执行一次控制逻辑（频率100Hz）
@@ -76,6 +79,40 @@ void RobotFsm::KeyboardCommandCallback(const std_msgs::msg::String::SharedPtr ms
     }
 }
 
+void RobotFsm::JoyCommandCallback(const std_msgs::msg::String::SharedPtr msg) {
+    if (!msg) {  // 检查消息是否有效
+        RCLCPP_WARN(this->get_logger(), "收到空的joy消息,忽略");
+        return;
+    }
+
+    // 解析消息内容
+    std::string command = msg->data;
+    if (command == "前进") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::FORWARD);
+    }
+    else if (command == "后退") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::BACKWARD);
+    }
+    else if (command == "左转") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::LEFT);
+    }
+    else if (command == "右转") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::RIGHT);
+    }
+    else if (command == "上升") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::UP);
+    }
+    else if (command == "下降") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::DOWN);
+    }
+    else if (command == "停止") {
+        inputDevices_[InputType::VOICE]->SetCommand(ControlCommand::STOP);
+    }
+    else {
+        RCLCPP_WARN(this->get_logger(), "未知的命令: %s", command.c_str());
+    }
+}
+
 void RobotFsm::VoiceCommandCallback(const std_msgs::msg::String::SharedPtr msg) {
     if (!msg) {  // 检查消息是否有效
         RCLCPP_WARN(this->get_logger(), "收到空的keyboard消息,忽略");