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[WIP] Add PS4 controller interface in ExternalFootstepPlannerPlugin #6

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01f298e
add new subscriber for PS4, in the plugin.
Jan 12, 2022
c73e7b7
move Joystick Callback function into ExternalFootstepPlanner.
Jan 13, 2022
2a8e81a
more robust allocation of Joystick Subscribe Thread.
Jan 13, 2022
2855bd3
remove Debug messages, enable joystick input.
Jan 13, 2022
fa80ed4
[WIP] add input_convertor and Oculus input option.
Jan 14, 2022
4f8c27e
implement Input Convertor, PS4 interface.
Jan 14, 2022
4560807
add Oculus input interface, but no tests with real Oculus and HRP4.
Jan 14, 2022
b4e6685
add launch file, remove prototype process.
Jan 14, 2022
b416405
Update README.md
TsuruMasato Jan 18, 2022
fec181c
add instruction images
Jan 18, 2022
8e6e3a0
Update README.md
TsuruMasato Jan 18, 2022
fe9a127
Update README.md
TsuruMasato Jan 18, 2022
58b5ca8
Add files via upload
TsuruMasato Jan 18, 2022
43834ef
Update README.md
TsuruMasato Jan 18, 2022
8f80d25
Update README.md
TsuruMasato Jan 18, 2022
9da611b
Update README.md
TsuruMasato Jan 18, 2022
797c6a5
Update README.md
TsuruMasato Jan 18, 2022
84fd085
add a new config argument for setting an initial target mode.
Jan 20, 2022
10cd0d5
Merge remote-tracking branch 'tsuru/rebase_stabilizer_ana' into rebas…
Jan 20, 2022
56e4145
import the stable walking parameters from ANA avatar controller.
Jan 26, 2022
847ac87
add debug message for Oculus input.
Feb 4, 2022
097b53a
fix fomatting
mehdi-benallegue Feb 25, 2022
e0999d3
Remove verbous warning
mehdi-benallegue Mar 2, 2022
78add45
change default interface to VR joystick, remove annoying debug messages.
Mar 3, 2022
ddf8437
Revert "change default interface to VR joystick, remove annoying debu…
Mar 3, 2022
15be5dc
Merge remote-tracking branch 'mehdi/rebase_stabilizer_ana' into rebas…
Mar 3, 2022
fece1f1
change default interface into VR controller.
Mar 3, 2022
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change default interface to VR joystick, remove annoying debug messages.
tsuru_hlab_osaka committed Mar 3, 2022
commit 78add452785dddf54ddf3501ed0f8751cc83dff2
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
category: ["Walking", "Main", "External Planning"]

default_target_type: "PS4 Controller"
default_target_type: "Oculus Controller"

velocity_target:
planning_distance: [0.15, 0.15, 1.57]
3 changes: 1 addition & 2 deletions plugins/ExternalFootstepPlanner/src/InputConvertor.cpp
Original file line number Diff line number Diff line change
@@ -54,7 +54,6 @@ SE2d InputConvertor::convert_PS4_to_SE2d(const sensor_msgs::Joy & joy_msg)

SE2d InputConvertor::convert_Oculus_to_SE2d(const sensor_msgs::Joy & joy_msg)
{
ROS_WARN("[ExFootPlanPlugin::InputConvertor] Convert_Oculus_to_SE2d function is not tested yet!! Watch out!!");
int axis_forward_sgn = 1;
int axis_lateral_sgn = -1;
int axis_theta_sgn = -1;
@@ -94,7 +93,7 @@ SE2d InputConvertor::convert_Oculus_to_SE2d(const sensor_msgs::Joy & joy_msg)
result.y = radius * sin(origin_theta);
result.theta = val_theta;

ROS_WARN("[ExFootPlanPlugin::convert_Oculus_to_SE2d] foward: %f, lateral: %f, yaw: %f", result.x, result.y, result.theta);
// ROS_WARN("[ExFootPlanPlugin::convert_Oculus_to_SE2d] foward: %f, lateral: %f, yaw: %f", result.x, result.y, result.theta);

return result;
}