HumanInput2dJoystick
[HumanInput2d drivers, C++, Linux]

Joystick driver for HumanInput2d hardware interface. More...

Joystick driver for HumanInput2d hardware interface.

Motion commands are issued by moving the joystick.

• forward : set "forward motion"
• backward : set "forward motion"
• left : set left "turn"
• right : set right "turn"

Note that the meaning of "forward motion" and "turn" may be interpreted differently depending on which type of device we are controlling.

Additional Configuration

• Joystick.Device (string)
  • Unix path to the joystick device, or "auto" to have teleop search for a joystick.
  • Default: "auto"
  • Example: "/dev/input/event0"

Dependencies

• This driver requires either a Linux Kernel >= 2.4 or the Linux Input Drivers . If the driver is built as a module you may have to load it. Check with command lsmod and add module with modprobe. This Orca driver has only been tested with kernel >=2.6.12.

• Make sure you're using the correct event device. Get a list of available devices and find the one corresponding to your joystick.

  $ cat /proc/bus/input/devices
  

Troubleshooting

• Make sure that your event devices exist and can be read from, i.e. ensure that you have permissions to /dev/input/event* (note that these permissions may get over-written on reboot.)

  # chmod 666 /dev/input/event*
  

• if not enough event devices exist, create them like this:

  # mknod c event0 13 64
  # mknod c event1 13 65
  # mknod c event2 13 66
  # mknod c event3 13 67
  

• There are some problems with USB1.0 joysticks and older kernels. If your USB system hangs, try upgrading. Kernel 2.6.12 seems to be OK.

Authors

Alex Makarenko