[{"data":1,"prerenderedAt":942},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-shou-bing-joy":3,"wiki-doc-items-2023-12-30-ros2-tutorial":521,"wiki:author-members":930},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":120,"chapterOrder":509,"date":510,"description":28,"docKey":511,"docRoot":512,"docTitle":513,"extension":514,"isWikiDoc":138,"isWikiIndex":515,"meta":516,"navigation":138,"path":517,"seo":518,"stem":519,"wikiDepth":36,"__hash__":520},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0600-手柄joy.md","手柄JOY",[7],"董佳辉",{"type":9,"value":10,"toc":500},"minimark",[11,15,18,22,45,48,59,65,76,79,92,98,103,107,158,163,166,179,182,187,191,204,242,246,249,278,281,286,289,307,310,333,343,346,351,355,358,388,390,394,396,410,412,430,433,438,488,491,496],[12,13,14],"h2",{"id":14},"简介",[12,16,17],{"id":17},"检测设备",[19,20,21],"p",{},"你可以在没插手柄的时候看一下：",[23,24,29],"pre",{"className":25,"code":26,"language":27,"meta":28,"style":28},"language-bash 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\u002Fproc\u002Fbus\u002Finput\u002Fdevices\n",[19,93,94,95,97],{},"按顺序找到",[30,96,74],{},"：",[19,99,100],{},[62,101],{"alt":28,"src":102},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1790303185788-11fafa4f.webp",[12,104,106],{"id":105},"linux测试手柄","Linux测试手柄",[23,108,110],{"className":25,"code":109,"language":27,"meta":28,"style":28},"# Ubuntu或者Debian\nsudo apt install joystick\n\n# Fedora\nsudo dnf install joystick\n",[30,111,112,118,133,140,146],{"__ignoreMap":28},[33,113,114],{"class":35,"line":36},[33,115,117],{"class":116},"sJ8bj","# Ubuntu或者Debian\n",[33,119,121,124,127,130],{"class":35,"line":120},2,[33,122,123],{"class":39},"sudo",[33,125,126],{"class":43}," apt",[33,128,129],{"class":43}," install",[33,131,132],{"class":43}," joystick\n",[33,134,136],{"class":35,"line":135},3,[33,137,139],{"emptyLinePlaceholder":138},true,"\n",[33,141,143],{"class":35,"line":142},4,[33,144,145],{"class":116},"# Fedora\n",[33,147,149,151,154,156],{"class":35,"line":148},5,[33,150,123],{"class":39},[33,152,153],{"class":43}," dnf",[33,155,129],{"class":43},[33,157,132],{"class":43},[19,159,160],{},[62,161],{"alt":28,"src":162},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1790303302394-a230fbe2.webp",[19,164,165],{},"然后",[23,167,169],{"className":25,"code":168,"language":27,"meta":28,"style":28},"jstest \u002Fdev\u002Finput\u002Fjs1\n",[30,170,171],{"__ignoreMap":28},[33,172,173,176],{"class":35,"line":36},[33,174,175],{"class":39},"jstest",[33,177,178],{"class":43}," \u002Fdev\u002Finput\u002Fjs1\n",[19,180,181],{},"可以拨动摇杆测试下：",[19,183,184],{},[62,185],{"alt":28,"src":186},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1790303370972-3f3a25cb.webp",[12,188,190],{"id":189},"ros-joy节点","ROS 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device:=\u002Fdev\u002Finput\u002Fjs1\n",[30,253,254],{"__ignoreMap":28},[33,255,256,259,262,265,268,272,275],{"class":35,"line":36},[33,257,258],{"class":39},"ros2",[33,260,261],{"class":43}," run",[33,263,264],{"class":43}," joy",[33,266,267],{"class":43}," joy_node",[33,269,271],{"class":270},"sj4cs"," --ros-args",[33,273,274],{"class":270}," -p",[33,276,277],{"class":43}," device:=\u002Fdev\u002Finput\u002Fjs1\n",[19,279,280],{},"可以看到图里的提示，已经连接到xbox手柄了。",[19,282,283],{},[62,284],{"alt":28,"src":285},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1790303712814-0cb909b8.webp",[19,287,288],{},"查看话题数据：",[23,290,292],{"className":25,"code":291,"language":27,"meta":28,"style":28},"ros2 topic echo \u002Fjoy\n",[30,293,294],{"__ignoreMap":28},[33,295,296,298,301,304],{"class":35,"line":36},[33,297,258],{"class":39},[33,299,300],{"class":43}," topic",[33,302,303],{"class":43}," echo",[33,305,306],{"class":43}," \u002Fjoy\n",[19,308,309],{},"查看话题的频率：",[23,311,313],{"className":25,"code":312,"language":27,"meta":28,"style":28},"ros2 topic hz \u002Fjoy --window 20\n",[30,314,315],{"__ignoreMap":28},[33,316,317,319,321,324,327,330],{"class":35,"line":36},[33,318,258],{"class":39},[33,320,300],{"class":43},[33,322,323],{"class":43}," hz",[33,325,326],{"class":43}," \u002Fjoy",[33,328,329],{"class":270}," --window",[33,331,332],{"class":270}," 20\n",[19,334,335,338,339,342],{},[30,336,337],{},"--window 20","的瞬态更准，他会抛弃上面更老的数据，",[30,340,341],{},"window=20"," 很快就会把旧的样本丢掉。",[19,344,345],{},"我这个频率在 3200 Hz上，明显太高了。",[19,347,348],{},[62,349],{"alt":28,"src":350},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1790304105972-36829fc9.webp",[243,352,354],{"id":353},"joy_linux","Joy_Linux",[19,356,357],{},"试试另一个包：",[23,359,361],{"className":25,"code":360,"language":27,"meta":28,"style":28},"ros2 run joy_linux joy_linux_node --ros-args \\\n  -p dev:=\u002Fdev\u002Finput\u002Fjs1\n",[30,362,363,380],{"__ignoreMap":28},[33,364,365,367,369,372,375,377],{"class":35,"line":36},[33,366,258],{"class":39},[33,368,261],{"class":43},[33,370,371],{"class":43}," joy_linux",[33,373,374],{"class":43}," joy_linux_node",[33,376,271],{"class":270},[33,378,379],{"class":270}," \\\n",[33,381,382,385],{"class":35,"line":120},[33,383,384],{"class":270},"  -p",[33,386,387],{"class":43}," dev:=\u002Fdev\u002Finput\u002Fjs1\n",[19,389,280],{},[19,391,392],{},[62,393],{"alt":28,"src":285},[19,395,288],{},[23,397,398],{"className":25,"code":291,"language":27,"meta":28,"style":28},[30,399,400],{"__ignoreMap":28},[33,401,402,404,406,408],{"class":35,"line":36},[33,403,258],{"class":39},[33,405,300],{"class":43},[33,407,303],{"class":43},[33,409,306],{"class":43},[19,411,309],{},[23,413,414],{"className":25,"code":312,"language":27,"meta":28,"style":28},[30,415,416],{"__ignoreMap":28},[33,417,418,420,422,424,426,428],{"class":35,"line":36},[33,419,258],{"class":39},[33,421,300],{"class":43},[33,423,323],{"class":43},[33,425,326],{"class":43},[33,427,329],{"class":270},[33,429,332],{"class":270},[19,431,432],{},"在这个包下，频率静止时在 20 Hz,手柄活跃后在 500 Hz上。",[19,434,435],{},[62,436],{"alt":28,"src":437},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1790305312940-da3c783b.webp",[23,439,441],{"className":25,"code":440,"language":27,"meta":28,"style":28},"ros2 run joy_linux joy_linux_node --ros-args \\\n  -p dev:=\u002Fdev\u002Finput\u002Fjs1 \\\n  -p autorepeat_rate:=50.0 \\\n  -p coalesce_interval:=0.01\n",[30,442,443,457,466,478],{"__ignoreMap":28},[33,444,445,447,449,451,453,455],{"class":35,"line":36},[33,446,258],{"class":39},[33,448,261],{"class":43},[33,450,371],{"class":43},[33,452,374],{"class":43},[33,454,271],{"class":270},[33,456,379],{"class":270},[33,458,459,461,464],{"class":35,"line":120},[33,460,384],{"class":270},[33,462,463],{"class":43}," dev:=\u002Fdev\u002Finput\u002Fjs1",[33,465,379],{"class":270},[33,467,468,470,473,476],{"class":35,"line":135},[33,469,384],{"class":270},[33,471,472],{"class":43}," 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