# autoware_joy_speed_controller

Role

autoware_joy_speed_controller is the package to convert a joy msg to autoware commands (e.g. steering wheel, speed control, shift, turn signal, engage) for a vehicle.

Usage

ROS 2 launch

# With default config (ds4)
ros2 launch autoware_joy_speed_controller joy_controller.launch.xml

# Default config but select from the existing parameter files
ros2 launch autoware_joy_speed_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox

# Override the param file
ros2 launch autoware_joy_speed_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml

Input / Output

Input topics

Name	Type	Description
~/input/joy	sensor_msgs::msg::Joy	joy controller command

Output topics

Name	Type	Description
~/control/command/control_cmd	autoware_control_msgs::msg::Control	lateral and longitudinal control command
~/control/command/gear_cmd	autoware_vehicle_msgs::msg::GearCommand>	gear command
~/control/command/turn_indicators_cmd	autoware_vehicle_msgs::msg::TurnIndicatorsCommand	turn signal command
~/control/command/hazard_lights_cmd	autoware_vehicle_msgs::msg::HazardLightsCommand	hazard light command
~/control/current_gate_mode	tier4_control_msgs::msg::GateMode	gate mode (Auto or External)
~/output/heartbeat	tier4_external_api_msgs::msg::Heartbeat	heartbeat
~/output/vehicle_engage	autoware_vehicle_msgs::msg::Engage	vehicle engage
~/control/command/emergency_cmd	tier4_vehicle_msgs::msg::VehicleEmergencyStamped	emergency command
~/autoware/engage	autoware_vehicle_msgs::msg::Engage	autoware engage command

Parameters

Parameter	Type	Description
joy_type	string	Type of joystick controller (default: DS4)
update_rate	double	Frequency (Hz) at which control commands are published
steer_ratio	double	Ratio used to scale steering input to achieve the desired steering response
steer_rate	double	Rate at which the steering ratio is applied to achieve the required steering response
steering_angle_velocity	double	Maximum rate of change for the steering angle
velocity_gain	double	Gain factor used to convert acceleration input to velocity
max_velocity	double	Maximum allowable velocity in both forward and reverse directions
accel_smooth_factor	double	Smoothing factor applied to acceleration for smoother transitions
decel_smooth_factor	double	Smoothing factor applied to deceleration for smoother transitions

DS4 Joystick Key Map

Action	Button
Decrease Speed	×
Increase Speed	□
Steering	Left Stick Left Right
Shift up	Cursor Up
Shift down	Cursor Down
Shift Drive	Cursor Left
Shift Reverse	Cursor Right
Turn Signal Left	L1
Turn Signal Right	R1
Clear Turn Signal	SHARE
Gate Mode	OPTIONS
Emergency Stop	PS
Clear Emergency Stop	PS
Autoware Engage	○
Autoware Disengage	○
Vehicle Engage	△
Vehicle Disengage	△