1.实验环境:ubuntu16.04 ROS-kinetic

2.实验器材:罗技f710

3.操控手柄发出数据,控制小乌龟

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/String.h> 
#include <sensor_msgs/Joy.h>
#include <iostream>
#include "myserial/vehicleControl.h"
//myserial::vehicleControl control;//发布话题的对象control
using namespace std;int x,z;int a=0;
class Teleop
{public:Teleop();private:/*data*/void callback(const sensor_msgs::Joy::ConstPtr& Joy);ros::NodeHandle n;//实例化节点ros::Subscriber sub;ros::Publisher pub;double vlinear,vangular;//控制乌龟的速度,是通过这两个变量调整int axis_ang,axis_lin;//axes[]的键};Teleop::Teleop()
{//我们将这几个变量加上参数,可以方便在launch文件修改n.param<int>("axis_linear",axis_lin,4);//默认axes[1]接受速度n.param<int>("axis_angular",axis_ang,0);//默认axes[0]接受速度n.param<double>("vel_linear",vlinear,1);//默认线速度1单位m/sn.param<double>("vel_angular",vangular,1);//默认角速度1单位rad/s//发布主题commandpub=n.advertise<myserial::vehicleControl>("command", 1000);//将速度发布给串口,消息队列1000sub=n.subscribe<sensor_msgs::Joy>("joy",10,&Teleop::callback,this);//订阅游戏手柄发来的数据
}void Teleop::callback(const sensor_msgs::Joy::ConstPtr& Joy){geometry_msgs::Twist v;myserial::vehicleControl control;//发布话题的对象controlv.angular.z=Joy->axes[axis_ang]*vlinear;//将游戏手柄的数据乘以你想要的速度,然后发给乌龟v.linear.x=Joy->buttons[3];//Y键表示runv.linear.y=Joy->buttons[0];//A键表示后退if(Joy->buttons[6])//back键表示模式{if(a==0){a=1;} //每次按下back都反转一次else{a=0;}}control.mode=a;//默认为手动模式0if(v.linear.x>v.linear.y){x=1;}//run,Y按了,A没按else if(v.linear.x<v.linear.y){x=2;}//back,A按了,Y没按else if(v.linear.x==v.linear.y){x=3;}//break,停车if(v.angular.z>0){z=1;}else if(v.angular.z<0){z=2;}else if(v.angular.z==0){z=3;}control.gamePad_x=x;control.gamePad_z=z;ROS_INFO("mode:%d,linear:%d,angular:%d",control.mode,control.gamePad_x,control.gamePad_z);ROS_INFO("control:",control);pub.publish(control);}int main (int argc,char** argv)
{ros::init(argc,argv, "logteleop");Teleop telelog;ros::spin();return 0;}