JoyPlugin Class Reference

The JoyPlugin connects to a joystick or gamepad, and transmits data from the joystick over an Ignition Transport topic. More...

#include <JoyPlugin.hh>

Inherits WorldPlugin.

Public Types
typedef boost::shared_ptr< WorldPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	JoyPlugin ()
	Constructor. More...
virtual	~JoyPlugin ()
	Destructor. More...
std::string	GetFilename () const
	Get the name of the handler. More...
std::string	GetHandle () const
	Get the short name of the handler. More...
PluginType	GetType () const
	Returns the type of the plugin. More...
virtual void	Init ()
void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf) override
	Load function. More...
virtual void	Reset ()

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

Protected Attributes
std::string	filename
	Path to the shared library file. More...
std::string	handleName
	Short name. More...
PluginType	type
	Type of plugin. More...

Detailed Description

The JoyPlugin connects to a joystick or gamepad, and transmits data from the joystick over an Ignition Transport topic.

The default topic name is /joy, and the message type is ignition.msgs.Joy.

Another plugin or application can listen to the joystick messages, and then take actions based on the data.

Example

1. Connect a joystick to the computer.
2. Run the Gazebo demo: gazebo worlds/joy_demo.world

3. Echo the joy data to a terminal: ign topic -e -t /joy

   Note: You will need ign-tools

Usage

The plugin is loaded via a world plugin. In SDF this looks like:

<plugin name="joy" filename="libJoyPlugin.so">
   <sticky_buttons>false</sticky_buttons>
   <dead_zone>0.05</dead_zone>
   <rate>60</rate>
   <accumulation_rate>1000</accumulation_rate>
 </plugin>

See worlds/joy_demo.world for an example.

Configuration

Options that can be specified in the plugin include:

1. <dev>(string): Name of the joystick device. The default value is /dev/input/js0.
2. <topic>(string): Name of the topic on which to publish joy messages. The default is /joy.
3. <sticky_buttons>(true/false): When true the buttons values change state only on a transition from 0 to 1. This makes the button act like toggle buttons. False is the default
4. <dead_zone>(float between 0 and 0.9): A larger number increases the distance the joystick has to move before registering a value. The default is 0.05;
5. <rate>(float): The rate at which joystick messages are published, in Hz. The default value is 1Hz.
6. <accumulation_rate>(float): The rate at which data is collected from the joystick device. The default value is 1000Hz.

Troubleshooting

1. Playstation joysticks may require a press of the center "Ps" button before they work.

Member Typedef Documentation

TPtr

typedef boost::shared_ptr<WorldPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

JoyPlugin()

JoyPlugin

(

)

Constructor.

~JoyPlugin()

virtual ~JoyPlugin ( )

virtual

Destructor.

Member Function Documentation

Create()

static TPtr Create ( const std::string &  _filename, const std::string &  _name  )

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns

Shared Pointer to this class type

GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns

type of the plugin

Init()

virtual void Init ( )

inlinevirtualinherited

Reimplemented in StaticMapPlugin, ArrangePlugin, SimEventsPlugin, and RubblePlugin.

Load()

void Load ( physics::WorldPtr  _world, sdf::ElementPtr  _sdf  )

overridevirtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_world	Pointer the World
[in]	_sdf	Pointer the the SDF element of the plugin.

Implements WorldPlugin.

LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf, const std::string &  _name, V &  _target, V  _defaultValue = V()  ) const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

LoadParam() [2/2]

void LoadParam ( sdf::ElementPtr &  _sdf, const std::string &  _name, std::string &  _target, const char *  _defaultValue  ) const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

Reset()

virtual void Reset ( )

inlinevirtualinherited

Reimplemented in ArrangePlugin.

Member Data Documentation

filename

std::string filename

protectedinherited

Path to the shared library file.

handleName

std::string handleName

protectedinherited

Short name.

type

PluginType type

protectedinherited

Type of plugin.

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The documentation for this class was generated from the following file:

• JoyPlugin.hh