ROS kinetc + Xbox 360 无线手柄 使用

目录

安装手柄接收器驱动

sudo apt-add-repository ppa:rael-gc/ubuntu-xboxdrv
sudo apt-get update && sudo apt-get install ubuntu-xboxdrv

配对手柄和接收器

1.将接收器接入电脑USB

2.测试手柄

ls /dev/input/js*

如果驱动安装成功,则会显示:

/dev/input/js0  /dev/input/js1  /dev/input/js2  /dev/input/js3  /dev/input/js4

因为只是接了一个设备,所以下面我们使用/dev/input/js0

测试

按手柄上的小圆球启动电源,然后长按无线启动开关,并按接收器上的按钮,等待手柄和接收器配对成功,成功后手柄上的小圆球就不会闪烁了。

sudo jstest /dev/input/js0

出现下面信息:

Driver version is 2.1.0.
Joystick (Xbox 360 Wireless Receiver) has 4 axes (X, Y, Rx, Ry)
and 17 buttons (BtnX, BtnY, BtnTL, BtnTR, BtnTR2, BtnSelect, BtnStart, BtnMode, BtnThumbL, BtnThumbR, ?, ?, ?, (null), (null), (null), (null)).
Testing ... (interrupt to exit)
Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1Axes: 0: -1538 1: -6761 2: -264 3: 188 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off 15:off 16:off

这是如果扭动手柄上的摇杆的话,数值会发生变化。

开发

sudo apt-get install ros-kinetic-joy
http://wiki.ros.org/joy

参考资源

ROS indigo 使用游戏手柄控制turtlebot2

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