ArduPilot
AP_DDS: Joystick Support
The changes are looking great so far. Would you be able to update the wiki with usage instructions once this gets merged?
The changes are looking great so far. Would you be able to update the wiki with usage instructions once this gets merged?
Yes sure I can try. Also, in the original issue description @Ryanf55 mentioned "We could ask RC_MAP what the throttle channel is?". In my PR I could add this, so I guess we also need to ask for the roll, pitch and yaw channels.
What do you think?
Also, in the original issue description @Ryanf55 mentioned "We could ask RC_MAP what the throttle channel is?". In my PR I could add this, so I guess we also need to ask for the roll, pitch and yaw channels.
What do you think?
We don't have any information in the Joy message to determine which axes value is the throttle, so I think we have to assume the driver has been configured to be consistent with the AP params, and just match RC indices.
@SantamRC I've merged the ardupilot_ros PR for joystick support. Can you please go through and common on all the threads that are resolved if you fixed the issues? Then, we can go through any remaining items together and get this in shortly.
@SantamRC I've merged the ardupilot_ros PR for joystick support. Can you please go through and common on all the threads that are resolved if you fixed the issues? Then, we can go through any remaining items together and get this in shortly.
Friendly bump. Please help get this across the merge line.
I am really looking forward to seeing this feature being implemented since I want to use it with some of my projects as well. @SantamRC if you are too busy maybe I can help so we can get it merged sooner?
On the side, @Ryanf55 since you are part of the ROS2 dev team for Ardupilot I want to ask if there are plans to support live velocity setpoints or if this Joy msg is currently the only way to do live control loops.
I am really looking forward to seeing this feature being implemented since I want to use it with some of my projects as well. @SantamRC if you are too busy maybe I can help so we can get it merged sooner?
On the side, @Ryanf55 since you are part of the ROS2 dev team for Ardupilot I want to ask if there are plans to support live velocity setpoints or if this Joy msg is currently the only way to do live control loops.
Yes, velocity control is in the plans, and there are other PR's proposed that add that kind of control: https://github.com/ArduPilot/ardupilot/pull/26728
I have ported this PR to https://github.com/ArduPilot/ardupilot/pull/28145
