对于移动机器人，键盘的控制往往满足不了我们的需求，以前看好多电影里边都是用一个摇杆来控制机器人的，简直帅爆了，正好我这里有一个操作杆，那就来尝试感受一下。

        操作杆（joystick）控制会更加有操作感，ROS中的很多机器人也带有操作杆的相关代码，只需要简单的移植即可。我们使用的是赛钛客（saitek）的一款操作杆，如下图所示：

        使用的移植代码是clearpath_husky机器人中的python代码。 参考链接： http://www.ros.org/wiki/joy

一、测试操作杆驱动

二、控制代码

import roslib; roslib.load_manifest('smartcar_teleop')  
import rospy  
  
from sensor_msgs.msg import Joy  
from geometry_msgs.msg import Twist  
from std_msgs.msg import String  
  
class Teleop:  
    def __init__(self):  
        rospy.init_node('smartcar_teleop_joy')  
  
        self.turn_scale = rospy.get_param('~turn_scale')  
        self.drive_scale = rospy.get_param('~drive_scale')  
        self.deadman_button = rospy.get_param('~deadman_button', 0)  
  
        self.cmd = None  
        cmd_pub = rospy.Publisher('cmd_vel', Twist)  
  
        announce_pub = rospy.Publisher('/smartcar/announce/teleops',  
                                       String, latch=True)  
        announce_pub.publish(rospy.get_namespace());  
  
        rospy.Subscriber("joy", Joy, self.callback)  
        rate = rospy.Rate(rospy.get_param('~hz', 20))  
          
        while not rospy.is_shutdown():  
            rate.sleep()  
            if self.cmd:  
                cmd_pub.publish(self.cmd)  
  
    def callback(self, data):  
        """ Receive joystick data, formulate Twist message. """  
        cmd = Twist()  
        cmd.linear.x = data.axes[1] * self.drive_scale  
        cmd.angular.z = data.axes[0] * self.turn_scale  
  
        if data.buttons[self.deadman_button] == 1:  
            self.cmd = cmd  
        else:  
            self.cmd = None  
  
if __name__ == "__main__": Teleop()

<launch>  
  <arg name="drive_speed" default="1.0" />  
  <arg name="turn_speed" default="1.0" />  
  <arg name="joy_dev" default="/dev/input/js0" />  
  <arg name="cmd_topic" default="cmd_vel" />  
  
  <node pkg="joy" type="joy_node" name="joy_node">  
    <param name="dev" value="$(arg joy_dev)" />  
    <param name="deadzone" value="0.3" />  
  </node>  
  
  <node pkg="smartcar_teleop" type="teleop_joy.py" name="smartcar_teleop">  
    <param name="turn_scale" value="$(arg turn_speed)" />  
    <param name="drive_scale" value="$(arg drive_speed)" />  
    <remap from="cmd_vel" to="$(arg cmd_topic)" />  
  </node>  
</launch> 

roslaunch smartcar_display.rviz.launch  
roslaunch smartcar_teleop teleop_joy.launch