Joystick Remote Control for HADA H500 Sprayer CANBUS-Based Protocol and Software Stack Interface to ROS

This ROS package was tested under ROS 1 Melodic installed on Ubuntu 18.04 and Joytron MXSwitch Bluetooth Joystick version was used to test the functionality. Other joystick brand and version may need adjustment.

List To-Do

• [v] add functionality to check joystick connection on (cansend_generator.py) for safety
• [v] add block to give understanding this node controlled by joystick or external
• [v] rewrite joy_detect.py
• improving detection speed on joy_detect.py
• [v] add block to indicate joystick on standby state which indicate by there is no incoming message on axis
• [v] combining ('/joystick_control_state') to joy_connection_status
• [v] create connection between joy_detect.py <-> rosrun ackermann_drive_teleop joyop.py

Basic usage of the ROS packages

Install dependencies (These step assume that the user will test the package under ROS 1 Melodic)

1. Build from source Joystick Remapper ROS Package

   • Create new ROS workspace environment (recommended) for ROS Melodic. For ROS Noetic may need to modify the python script on joystick_remapper/script/joystick_remapper.py to python3.

   mkdir -p ~/github/joystick_remapper_ws/src
   cd ~/github/joystick_remapper_ws
   catkin_make
   cd src
   git clone https://github.com/epan-utbm/joystick_remapper.git
   cd ..
   catkin_make
   source ~/github/joystick_remapper_ws/devel/setup.bash
   echo "source ~/github/joystick_remapper_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   

   • Create new file on directory joystick_remapper/launch with a name "joystick_remapper_ps3_hadarobot.launch" as an example.

   After completed this step you will see new file called joystick_remapper_ps3_hadarobot.launch

   cd ~/github/joystick_remapper_ws/src/joystick_remapper/launch
   touch joystick_remapper_ps3_hadarobot.launch
   

   • Edit joystick_remapper_ps3_hadarobot.launch using Visual Studio Code and then copy this launch script below:

   <?xml version="1.0"?>
   <launch>
     <node pkg="joy" type="joy_node" name="ps3_joy" >
       <remap from="joy" to="ps3_joy" />
       <param name="dev" value="/dev/input/js0" />
       <param name="deadzone" value="0.1" />
       <param name="autorepeat_rate" value="10" />
     </node>
     <node pkg="joystick_remapper" type="joystick_remapper.py" name="ps3_to_hadarobot" >
       <remap from="joy_source" to="ps3_joy" />
       <remap from="joy_dest" to="joy" />
       <param name="button_mapping" type="str" value="=" />
       <param name="axis_mapping" type="str" value="0 3 1 2 4 5 6" /> <!-- result1 = 0 2 1 3 4 5 6-->
     </node>
   </launch>
   

2. Build from source HADA bringup ROS Package

   Recommended steps. Assumed that github directory already available.

   cd ~/github
   mkdir -p hada_bringup_ws/src
   catkin_make
   cd src
   git clone [email protected]:ditodamaru/hada_bringup.git
   cd ..
   catkin_make
   source ~/github/hada_bringup_ws/devel/setup.bash
   echo "source ~/github/hada_bringup_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   

3. Build from source Ackerman Drive Message Generator Package

   Recommended steps. Assumed that github directory already exist.

   cd ~/github
   mkdir -p ackerman_teleop_ws/src
   catkin_make
   cd src
   git clone -b melodic-devel [email protected]:ditodamaru/ackermann-drive-teleop.git
   cd ..
   catkin_make
   source ~/github/ackerman_teleop_ws/devel/setup.bash
   echo "source ~/github/ackerman_teleop_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   

4. Build from source this repository

   Recommended steps. Assumed that github directory already exist

   cd ~/github
   mkdir -p hadacan_ros_ws/src
   catkin_make
   cd src
   git clone [email protected]:ditodamaru/hadacan_ros.git
   cd ..
   catkin_make
   source ~/github/hadacan_ros_ws/devel/setup.bash
   echo "source ~/github/hadacan_ros_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   

5. Launch ROS Nodes

• Start bluetooth joystick node and joystick topic remapper

roslaunch joystick_remapper joystick_remapper_ps3_hadarobot.launch 

• Start joystick controller safety node

rosrun cansend_generator joy_detect.py

• Start CAN Bus Communication with HADA H500 Robot

  For first installation

  rosrun hada_bringup setup_can2usb_hada.bash 
  

  After installation finished, directly use this steps below.

  Option 1

  rosrun hada_bringup bringup_can2usb_hada.bash 
  

  Option 2 (Optionally to start CAN Bus communication could be done by this command without hada_bringup package)

  sudo ip link set can0 up type can bitrate 125000
  

  Troubleshooting CAN Bus communication (You will see incoming CAN frame messages from HADA H500 robot)

  candump can0
  

• Start ackerman drive steering control node

rosrun ackermann_drive_teleop joyop.py

• Start sending CAN frame message to H500 Sprayer

rosrun cansend_generator cansend_generator.py

• Check this video for details
• Check this figure for troubleshooting
• Check this figure below for troubleshooting

Basic usage of the ROS packages for development

Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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Authors

Contributors names and contact info

1. Anditya Sridamar Pratyasta