logitech G29 Carla

电脑配置：Ubuntu20.04

ros2 galactic

Carla:0.9.12

由于Carla+G29要适配Linux系统,罗技的官网没有Linux的驱动，所以需要自己鼓捣；

可以看到罗技的G29由方向盘和油门刹车离合组成，需要将离合上的线接到方向盘上，注意，方向盘有一个电源线需要注意连接，电源线连接好，USB接口连接到计算机G29就开始旋转自检（之前就是这个坑，上机以后其他的按键和油门，刹车有反应，就是方向盘不动，你可以查看一下是不是线松了）。

查看工具：jstest-gtk

sudo apt-get install jstest-gtk #安装这个小工具

jstest-gtk #启动小工具

运行以后发现一个命名为Joystick Preferences的小窗口，发现已经识别到了罗技的设备、Device:/dev /input/js0 >>> 点击Properties进入:

我的油门对应着Axis2,踩油门就有数值变化；刹车对应着Axis3,方向盘对应的Axis0;(Axis0没数据看看有没有给方向盘上电，上电会转，还有一排灯亮起来)

固定问题

看完视频已后才知道想要固定住G29需要先把上面两个圆形的东西给拧开，然后用力朝松的方向拧开，越拧底下的卡扣越向下，然后把两个帽子给掰出来，然后就可以卡在桌子上极品飞车了；

Carla这一端的话做了两个测试验证

./CarlaUE4.sh

Carla/PythonAPI/example

./manual_control_steeringwheel.py --host <服务器地址>

这里如果报错的话，需要改一下manual_control_steeringwheel.py里面的代码

ERROR：

Welcome to CARLA manual control with steering wheel Logitech G29.

To drive start by preshing the brake pedal.

Change your wheel_config.ini according to your steering wheel.

To find out the values of your steering wheel use jstest-gtk in Ubuntu.

WARNING: Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API

WARNING: Client API version = 0.9.4-84-g889b998-dirty

WARNING: Simulator API version = 0.9.5-1-g4d1230e-dirty

Traceback (most recent call last):

File "./manual_control_steeringwheel.py", line 863, in <module>

main()

File "./manual_control_steeringwheel.py", line 855, in main

game_loop(args)

File "./manual_control_steeringwheel.py", line 790, in game_loop

world.tick(clock)

File "./manual_control_steeringwheel.py", line 180, in tick

self.hud.tick(self, clock)

File "./manual_control_steeringwheel.py", line 426, in tick

'Map: % 20s' % world.world.map_name,

AttributeError: 'World' object has no attribute 'map_name'

解决：

map_name was removed from world, use world.get_map().name

如果是本机运行则可不加服务器地址参数

同时，需要根据测试的方向盘来设置wheel_config.init的参数

cd Carla_python_Client

gedit manual_control_steeringwheel.py

gedit wheel_config.init

这样就可以在Carla中飙车了，但是有一个问题：方向盘没有阻力，容易开飘掉，下一步给G29加force-feedback（力反馈）

解决办法：GitHub上有一个小日子过得不错的程序员做了轮子，那就用一下吧，GitHub - kuriatsu/ros-g29-force-feedback: ros package for logicool g29 steering force feedback control

支持的版本贴到下面了

ROS version	g29	g923
ROS1	--	--
Kinetic	tested	no
Melodic	tested	no
ROS2	--	--
Dashing	no	no
Foxy	tested	no
Galactic	tested	no

#看看你的电脑的内核支持力反馈不，内核版本调整成自己的

cat /boot/config-5.3.0-46-generic | grep CONFIG_LOGIWHEELS_FF

CONFIG_LOGIWHEELS_FF=y

install

1.create ros2_ws

mkdir ~p ros2_ws/src

cd /ros2_ws

colcon build

2.download and build package

cd /ros2_ws/src

git clone https://github.com/kuriatsu/ros-g29-force-feedback.git

cd ../

colcon build --symlink-install

适配：

1.配置你的驱动名字

cat /proc/bus/input/devices

看看带有Logitch G29 Driving Force Racing Wheel 的event是哪一个

2.编辑 /config/g29.yaml/device_name event X

3运行节点

source ros2_ws/install/setup.bash

ros2 run ros_g29_force_feedback g29_force_feedback --ros-args --params-file ros2_ws/src/ros_g29_force_feedback/config/g29.yaml

启动的位置应当在文件夹外面！！！

如此就可以感受到方向盘有阻力了，但是我像要方向盘自己动

4.传递信息

$ ros2 topic pub /ff_target ros_g29_force_feedback/msg/ForceFeedback "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, position: 0.3, torque: 0.5}"

一旦消息被抛出，转盘旋转到0.3 * < max _ angle > (g29: max _ angle = 450 ° 顺时针，-450 ° 逆时针方向) ，发布速度不受限制。

29_force_feedback.yaml

parameter	default	description
device_name	/dev/input/event19	device name, change the number
loop_rate	0.1	Loop of retrieving wheel position and uploading control to the wheel
max_torque	1.0	As for g29, 1.0 = 2.5Nm (min_torque < max_torque < 1.0)
min_torque	0.2	Less than 0.2 cannot rotate wheel
brake_torque	0.2	Braking torque to stop at the position (descrived below)
brake_position	0.1	Brake angle (position-0.1*max_angle)
auto_centering_max_torque	0.3	Max torque for auto centering
auto_centering_max_position	0.2	Max torque position while auto centering (position±0.2*max_angle)
eps	0.01	Wheel in the range (position-eps to position+eps) is considered as it has reached the position
auto_centering	false	Anto centering if true