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# 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 △