walking机器人入门教程-测试mocute蓝牙手柄控制（选配）

说明

• 介绍在如何在walking上使用mocute蓝牙手柄

操作步骤

1.蓝牙连接

• 手柄拨向game模式，按下手柄电源开关，灯开始闪烁

• 在PC上开启蓝牙，并找到手柄蓝牙名称为：MOCUTE-052FE-AUTO，进行连接并确认接入

2.确认连接成功

• 运行命令测试

$ jstest /dev/input/js0

Driver version is 2.1.0.
Joystick (MOCUTE-052Fe-AUTO) has 8 axes (X, Y, Z, Rz, Gas, Brake, Hat0X, Hat0Y)
and 16 buttons (BtnA, BtnB, BtnC, BtnX, BtnY, BtnZ, BtnTL, BtnTR, BtnTL2, BtnTR2, BtnSelect, BtnStart, BtnMode, BtnThumbL, BtnThumbR, ?).
Testing ... (interrupt to exit)
Axes:  0:     0  1:     0  2:     0  3:     0  4:     0  5:     0  6:     0  7:     0 Buttons:  0:off  1:off  2:off  3:off  4:off  5:off  6:off  7:off  8:off  9:off 10:off 11:off 12:off 13:off 14:off 15Axes:  0:     0  1:     0  2:     0  3:     0  4:     0  5:     0  6:     0  7:     0 Buttons:  0:off  1:off  2:off  3:off  4:off  5:off  6:off  7:off  8:off  9:off 10:off 11:off 12:off 13:off 14:off 15Axes:  0:     0  1:     0  2:     0  3:     0  4:     0  5:     0  6:     0  7:     0 Buttons:  0:off  1:off  2:off  3:off  4:off  5:off  6:off  7:off  8:off  9:off 10:off 11:off 12:off 13:off 14:off 15Axes:  0:     0  1:     0  2:     0  3:     0  4:     0  5:     0  6:     0  7:     0 Buttons:  0:off  1:off  2:off  3:off  4:off  5:off  

• 控制各个按钮查看输出内容

3.控制小车

• 运行命令

$ ros2 launch walking_teleop teleop_mocute.launch.py

查看/cmd_vel话题

$ ros2 topic echo /cmd_vel

---
linear:
  x: -0.38888415098190304
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 2.0
---

• 查看joy话题

$ ros2 topic echo /joy_remote

---
header:
  stamp:
    sec: 1700715664
    nanosec: 770150598
  frame_id: joy
axes:
- -0.0
- -0.0
- -0.0
- -0.0
- 1.0
- 1.0
- 0.0
- 0.0
buttons:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
---