ROS2 package to control force feedback of logitech g29 steering wheel with ros message, written in c++, for human beings all over the world. This is useful for the user interface of autonomous driving, driving simulator like CARLA, LGSVL etc.
examples/carla_control.py
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Standalone ros package to control steering wheel. (doesn't depend on the other ros packages like ros-melodic-joy etc.)
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Two control modes
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Control mode (
config/g29.yaml/auto_centering=false)
Rotate wheel to the specified angle (position) with specifiedtorqueas specified with rostopic. -
Auto centering mode (
config/g29.yaml/auto_centering=true)
Automatically centering position, without publishing rostopic.
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ROS1 and ROS2 support. (if you use ROS1, checkout and refer ros1 branch)
ROS version g29 g923 ROS1 -- -- Kinetic tested no Melodic tested no ROS2 -- -- Dashing no no Foxy tested no Galactic tested no
- ubuntu18/20
- ROS2
- Logitech G29 Driving Force Racing Wheel (Planning to test with g923)
To check whether your kernel supports force feedback, do as follows
$ cat /boot/config-5.3.0-46-generic | grep CONFIG_LOGIWHEELS_FF
CONFIG_LOGIWHEELS_FF=yIf you cannot get CONFIG_LOGIWHEELS_FF=y, try to find patch or use latest kernel...
- create ros2_ws
mkdir -p ros2_ws/src cd /ros2_ws colcon build - download and build package
cd /ros2_ws/src git clone https://github.com/kuriatsu/ros-g29-force-feedback.git cd ../ colcon build --symlink-install
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Get device name
cat /proc/bus/input/devices
find Logitech G29 Driving Force Racing Wheel and check Handlers (ex. event19)
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Change
device_namein config/g29.yaml to the device name you obtained in step 1 -
Launch ros node
cd ~/ROS2/ros2_g29 . install/setup.sh ros2 run ros_g29_force_feedback g29_force_feedback --ros-args --params-file src/ros-g29-force-feedback/config/g29.yaml ros2 run ros_g29_force_feedback test_moment_inertia --ros-args --params-file src/ros-g29-force-feedback/config/g29.yaml
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Publish message (It's better to use tab completion)
ros2 topic pub /ff_target ros_g29_force_feedback/msg/ForceFeedback "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, position: 0.3, torque: 0.5}"Once the message is published, the wheel rotates to 0.3*<max_angle> (g29: max_angle=450° clockwise, -450° counterclockwise). Publish rate is not restricted.
g29_force_feedback.yaml
| parameter | default | description |
|---|---|---|
| device_name | /dev/input/event19 | device name, change the number |
| loop_rate | 0.1 | Loop of retrieving wheel position and uploading control to the wheel(每隔loop_rate调用一次loop函数) |
| max_torque | 1.0 | As for g29, 1.0 = 2.5Nm (min_torque < max_torque < 1.0) |
| min_torque | 0.2 | Less than 0.2 cannot rotate wheel(只在自对准中使用了) |
| brake_torque | 0.2 | Braking torque to stop at the position (descrived below)(这个值会直接乘上target.torque，所以这个值越小，截止力矩越大) |
| brake_position | 0.1 | Brake angle (position-0.1*max_angle)(整个方向盘的转动角度被映射到[-1,1], 在距离目标位置brake_position的角度，会触发`brake_position``) |
| auto_centering_max_torque | 0.3 | Max torque for auto centering |
| auto_centering_max_position | 0.2 | Max torque position while auto centering (position±0.2*max_angle)(触发最大力矩的位置) |
| eps | 0.01 | Wheel in the range (position-eps to position+eps) is considered as it has reached the position |
| auto_centering | false | Anto centering if true |
- Fork it (https://github.com/kuriatsu/g29-force-feedback.git)
- Create your feature branch (git checkout -b my-new-feature)
- Commit your changes (git commit -am 'Add some feature')
- Push to the branch (git push origin my-new-feature)
- Create new Pull Request
Bag fix in ros1 branch thanks to pedrohdsimoes
An example script of CARLA connection was added. Rotate the wheel according to the ego vehicle spawned in CARLA as shown in the GIF image.
Now available in ROS2-Foxy thanks to JLBicho
Oscillation problem solved. Wheel stops at the specified position, then starts auto centering. Auto centering mode are set by rosparam in config/g29.yaml, not by rostopic. Name of topic variables changed.
PID-Constant mode can be changed dynamically!! Removed mode selection from rosparam. Rotation force is ignored when PID mode. (max force can be specified with rosparam (not dynamic))
https://www.kernel.org/doc/html/v5.4/input/ff.html
https://github.com/flosse/linuxconsole/tree/master
文件说明：
- output_new2.txt : 从-1全力转向到1，静置一段时间后，在4次反向加力后保持。
- output_new3.txt : 从-1全力转向到1，静置一段时间后，在3次反向加力后保持。
- output_new4.txt : 从-1全力转向到1，施加反向阻力，在3次反向加力后，缓慢释放。
- output_no_ex_force.txt ：从-1全力转向到1，静置，不施加任何力。
关于计算外部力矩，对角速度使用了低通滤波器，然后再角加速度，更加平滑和合理。但是角加速度还是有很大的毛刺，不知道这种现象是否合理，计算得到的外部力矩也非常大。
究其根本，是角加速度$\alpha$的值太大。进而导致$J \alpha$过大，外部力矩计算值很大。
下一步是弄清楚$\alpha$的值为什么这么大，是否合理。