PACMod2 Game Controller

This ROS package provides software for controlling a PACMod2 system using a game controller. The pacmod2_game_control ROS node subscribes to gamepad input data coming from the ROS joy node and interfaces with the pacmod2 ROS driver to control the PACMod.

Installation

Install pacmod2_game_control using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod2-game-control

Controls

Supported Controllers

The currently supported controllers are:

• Logitech F310
• FORT Robotics Safe Remote Control
• Logitech G29 Steering Wheel and Pedals
• XBOX ONE Wired or Wireless Controller

NOTE: The Logitech F310 controller has a switch on the back of the controller for switching between "X" and "D". Ensure the switch is always set to "X". In addition, the Logitech F310 also has a MODE button that toggles a green light, ensure the green light is always off.

Logitech F310 Control Scheme

Below is the control scheme for the Logitech F310, the control scheme is similar for other controllers.

Note: Do not use the MODE button. MODE light should be OFF at all times otherwise the button mapping will change.

Action	Button	Notes
Enable/Disable	Center region
Enable	BACK and START	Buttons must be pressed simultaneously to enable by-wire mode
Disable	BACK	button must be pressed to disable by-wire mode.
Gear Selection	Button Pad (right-hand side)
Drive	A
Reverse	B
Neutral	X
Park	Y
Steering	Joystick
Steering	Left Joystick
Brake	Left Trigger
Throttle	Right Trigger
Windsheild Wipers	Left Bumper	Not supported by all vehicle platforms
Horn	Right Bumper	Not supported by all vehicle platforms
Headlights and Turn Signals	Directional Pad (left-hand side)
Left turn signal	Left
Right turn signal	Right
Headlights	Up	Not supported by all vehicle platforms
Hazards	Down	Not supported by all vehicle platforms

ROS API

Launch Arguments

• launch_driver: Set this to true if you wish to launch the pacmod3 driver along with the pacmod2_game_control node. Defaults to false.
• pacmod_vehicle_type: Use this to set your vehicle type. See launch file for available options.
• controller_type: Use this to set your controller type. See launch file for available options.
• steering_max_speed: The maximum rotational speed of the steering wheel in (rad/s).
• max_veh_speed: Maximum vehicle speed in (m/s), only used for speed-based steering damping.
• accel_scale_val: Scale value applied to outgoing accel commands, useful for decreasing sensitivity. Defaults to 1.0.
• brake_scale_val: Scale value applied to outgoing brake commands, useful for decreasing sensitivity. Defaults to 1.0.
• use_socketcan: Set this to true if socketCAN is being used to connect to the PACMod. If set false it is assumed a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
• pacmod_can_hardware_id: The hardware id of the kvaser device, only applies if use_socketcan is false.
• pacmod_can_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_socketcan is false.
• pacmod_socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.