Joystick Translation

Maintained by Nova


Converts joy messages coming from the ROS2 joystick driver and translates those values into our custom Vehicle/Control message type to be used for TBS (throttle/brake/steering).



getSpeedAdjustedSteering(self, joystick_pos: float)

Adjusts steering response based off vehicle speed. The higher the speed, the more sensitive the steering. We calculate a lower maximum steer value on either direction using linear scaling on our inputted speed.

joyCb(self, msg: Joy)

Processes joystick input and publishes vehicle control commands as well as the requested mode