From f833cd121445606412bb8a823e9317ea8f3f65eb Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Fri, 23 Jul 2021 13:09:08 +0700
Subject: [PATCH] add joytick

---
 docker-compose.yml             | 19 +++++++++++++++++++
 joystick/66-joystick.rules     |  1 +
 joystick/Dockerfile            | 28 ++++++++++++++++++++++++++++
 joystick/holonomic.config.yaml | 15 +++++++++++++++
 joystick/start.launch          | 29 +++++++++++++++++++++++++++++
 5 files changed, 92 insertions(+)
 create mode 100644 joystick/66-joystick.rules
 create mode 100644 joystick/Dockerfile
 create mode 100644 joystick/holonomic.config.yaml
 create mode 100644 joystick/start.launch

diff --git a/docker-compose.yml b/docker-compose.yml
index 891637e..e36b9dd 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -32,3 +32,22 @@ services:
       #- "11311:11311"
       - "8558:8558"
       - "9901:9901"
+      
+  joystick:
+    build: ./joystick
+    image: wn1980/joystick${TAG}
+    container_name: ros_joystick
+    restart: unless-stopped
+    privileged: true
+    #command: stdbuf -o L roslaunch --wait start.launch
+    #command: stdbuf -o L roslaunch --wait turtlebot_lidar_teleop joystick.launch
+    #command: stdbuf -o L roslaunch --wait teleop_twist_joy teleop.launch
+    depends_on:
+      - workspace
+    devices:
+      - "/dev/input:/dev/input"
+    volumes:
+      - "/dev/input:/dev/input"
+      - "/etc/localtime:/etc/localtime:ro"
+    environment:
+      - "ROS_MASTER_URI=http://workspace:11311"
\ No newline at end of file
diff --git a/joystick/66-joystick.rules b/joystick/66-joystick.rules
new file mode 100644
index 0000000..71a527a
--- /dev/null
+++ b/joystick/66-joystick.rules
@@ -0,0 +1 @@
+ATTRS{idVendor}=="0079", ATTRS{idProduct}=="0126", SUBSYSTEMS=="usb", ACTION=="add", MODE="0666", GROUP="input" SYMLINK+="joystick"
diff --git a/joystick/Dockerfile b/joystick/Dockerfile
new file mode 100644
index 0000000..cb03ee8
--- /dev/null
+++ b/joystick/Dockerfile
@@ -0,0 +1,28 @@
+FROM ros:melodic-ros-core
+
+LABEL maintainer="Waipot Ngamsaad <waipotn@hotmail.com>"
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN  apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+RUN apt-get update && \
+	apt-get upgrade -y && \
+	apt-get install -y \ 
+	ros-$ROS_DISTRO-joy \
+	ros-$ROS_DISTRO-joystick-drivers \
+	ros-$ROS_DISTRO-teleop-twist-joy \
+	joystick && \
+	apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY ./start.launch ./holonomic.config.yaml /
+
+RUN usermod -aG dialout root && \
+	usermod -aG plugdev root && \
+	usermod -aG input root
+
+CMD ["roslaunch", "--wait", "start.launch"]
\ No newline at end of file
diff --git a/joystick/holonomic.config.yaml b/joystick/holonomic.config.yaml
new file mode 100644
index 0000000..fbd9ef1
--- /dev/null
+++ b/joystick/holonomic.config.yaml
@@ -0,0 +1,15 @@
+axis_linear:
+  x: 1
+  y: 0
+scale_linear:
+  x: 0.5
+  y: 0.5
+scale_linear_turbo:
+  x: 1.0
+  y: 1.0 
+axis_angular:
+  yaw: 3
+scale_angular:
+  yaw: 1.0
+enable_button: 4
+enable_turbo_button: 5
diff --git a/joystick/start.launch b/joystick/start.launch
new file mode 100644
index 0000000..424887c
--- /dev/null
+++ b/joystick/start.launch
@@ -0,0 +1,29 @@
+<launch>  
+  <node pkg="joy" type="joy_node" name="joy_node">
+    <param name="dev" value="/dev/input/js0" />
+    <param name="deadzone" value="0.3" />
+    <param name="autorepeat_rate" value="20" />
+  </node>
+
+  <node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
+  <!--
+    <param name="axis_angular" value="3"/>
+    <param name="axis_linear" value="4"/>
+    
+    <param name="scale_angular" value="1.0"/>
+    
+    <param name="scale_linear" value="0.25"/>
+    <param name="scale_linear_turbo" value="0.70"/>
+    
+    <param name="enable_button" value="4"/> 		
+    <param name="enable_turbo_button" value="5"/>	
+  -->
+
+    <rosparam command="load" file="./holonomic.config.yaml" />
+    
+    <!--
+    <remap from="cmd_vel" to="teleop_velocity_smoother/raw_cmd_vel"/>
+    -->
+    
+  </node>
+</launch>