Joystick Translation

Maintained by Nova

Overview

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).

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In:

• /joy joy
• /speed CarlaSpeedometer
• /clock Clock
• /guardian/mode Mode

Out:

• /vehicle/control VehicleControl
• /requested_mode Mode
• /node_statuses DiagnosticStatus

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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