Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]
Messages
Services
Plugins
Recent questions tagged autoware_joy_controller at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
autoware_joy_controller
Role
autoware_joy_controller
is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
Usage
ROS 2 launch
# With default config (ds4)
ros2 launch autoware_joy_controller joy_controller.launch.xml
# Default config but select from the existing parameter files
ros2 launch autoware_joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
# Override the param file
ros2 launch autoware_joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
Input / Output
Input topics
Name | Type | Description |
---|---|---|
~/input/joy |
sensor_msgs::msg::Joy | joy controller command |
~/input/odometry |
nav_msgs::msg::Odometry | ego vehicle odometry to get twist |
Output topics
Name | Type | Description |
---|---|---|
~/output/control_command |
autoware_control_msgs::msg::Control | lateral and longitudinal control command |
~/output/external_control_command |
tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
~/output/shift |
tier4_external_api_msgs::msg::GearShiftStamped | gear command |
~/output/turn_signal |
tier4_external_api_msgs::msg::TurnSignalStamped | turn signal command |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode | gate mode (Auto or External) |
~/output/heartbeat |
tier4_external_api_msgs::msg::Heartbeat | heartbeat |
~/output/vehicle_engage |
autoware_vehicle_msgs::msg::Engage | vehicle engage |
Parameters
Parameter | Type | Description |
---|---|---|
joy_type |
string | joy controller type (default: DS4) |
update_rate |
double | update rate to publish control commands |
accel_ratio |
double | ratio to calculate acceleration (commanded acceleration is ratio * operation) |
brake_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
steer_ratio |
double | ratio to calculate deceleration (commanded steer is ratio * operation) |
steering_angle_velocity |
double | steering angle velocity for operation |
accel_sensitivity |
double | sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
brake_sensitivity |
double | sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity)) |
raw_control |
bool | skip input odometry if true |
velocity_gain |
double | ratio to calculate velocity by acceleration |
max_forward_velocity |
double | absolute max velocity to go forward |
max_backward_velocity |
double | absolute max velocity to go backward |
backward_accel_ratio |
double | ratio to calculate deceleration (commanded acceleration is -ratio * operation) |
P65 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2 |
Brake | L2 |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | A |
Gate Mode | B |
Emergency Stop | Select |
Clear Emergency Stop | Start |
Autoware Engage | X |
Autoware Disengage | Y |
Vehicle Engage | PS |
Vehicle Disengage | Right Trigger |
DS4 Joystick Key Map
Action | Button |
---|---|
Acceleration | R2, ×, or Right Stick Up |
Brake | L2, □, or Right Stick Down |
Steering | Left Stick Left Right |
Shift up | Cursor Up |
Shift down | Cursor Down |
Shift Drive | Cursor Left |
Shift Reverse | Cursor Right |
Turn Signal Left | L1 |
Turn Signal Right | R1 |
Clear Turn Signal | SHARE |
Gate Mode | OPTIONS |
Emergency Stop | PS |
Clear Emergency Stop | PS |
Autoware Engage | ○ |
File truncated at 100 lines see the full file
Changelog for package autoware_joy_controller
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
0.40.0 (2024-12-12)
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
-
Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/joy_controller.launch.xml
-
- external_cmd_source [default: remote]
- input_joy [default: /joy]
- input_odometry [default: /localization/kinematic_state]
- output_control_command [default: /external/$(var external_cmd_source)/joy/control_cmd]
- output_external_control_command [default: /api/external/set/command/$(var external_cmd_source)/control]
- output_shift [default: /api/external/set/command/$(var external_cmd_source)/shift]
- output_turn_signal [default: /api/external/set/command/$(var external_cmd_source)/turn_signal]
- output_heartbeat [default: /api/external/set/command/$(var external_cmd_source)/heartbeat]
- output_gate_mode [default: /control/gate_mode_cmd]
- output_vehicle_engage [default: /vehicle/engage]
- config_file [default: $(find-pkg-share autoware_joy_controller)/config/joy_controller_ds4.param.yaml]
- launch/joy_controller_param_selection.launch.xml
-
- joy_type [default: ds4]