ros-g29-force-feedback

Overview

ROS2 package to control force feedback of logitech g29 steering wheel with ros message, written in c++, for human beings all over the world. This is useful for the user interface of autonomous driving, driving simulator like CARLA, LGSVL etc.

examples/carla_control.py

Features

Standalone ros package to control steering wheel. (doesn't depend on the other ros packages like ros-melodic-joy etc.)
Two control modes
- Control mode (config/g29.yaml/auto_centering=false)
  Rotate wheel to the specified angle (position) with specified torque as specified with rostopic.
- Auto centering mode (config/g29.yaml/auto_centering=true)
  Automatically centering position, without publishing rostopic.
ROS1 and ROS2 support. (if you use ROS1, checkout and refer ros1 branch)

ROS version g29 g923

ROS1 -- --

Kinetic tested no

Melodic tested no

ROS2 -- --

Dashing no no

Foxy tested no

Galactic tested no

ROS version	g29	g923
ROS1	--	--
Kinetic	tested	no
Melodic	tested	no
ROS2	--	--
Dashing	no	no
Foxy	tested	no
Galactic	tested	no

Requirement

ubuntu18/20
ROS2
Logitech G29 Driving Force Racing Wheel (Planning to test with g923)

To check whether your kernel supports force feedback, do as follows

$ cat /boot/config-5.3.0-46-generic | grep CONFIG_LOGIWHEELS_FF
CONFIG_LOGIWHEELS_FF=y

If you cannot get CONFIG_LOGIWHEELS_FF=y, try to find patch or use latest kernel...

Install

create ros2_ws

mkdir -p ros2_ws/src
cd /ros2_ws
colcon build

download and build package

cd /ros2_ws/src
git clone https://github.com/kuriatsu/ros-g29-force-feedback.git
cd ../
colcon build --symlink-install

Usage

Get device name
```
cat /proc/bus/input/devices
```
find Logitech G29 Driving Force Racing Wheel and check Handlers (ex. event19)
Change device_name in config/g29.yaml to the device name you obtained in step 1

Launch ros node

cd ~/ROS2/ros2_g29
. install/setup.sh
ros2 run ros_g29_force_feedback g29_force_feedback --ros-args --params-file src/ros-g29-force-feedback/config/g29.yaml

ros2 run ros_g29_force_feedback test_moment_inertia --ros-args --params-file src/ros-g29-force-feedback/config/g29.yaml

Publish message (It's better to use tab completion)
```
ros2 topic pub /ff_target ros_g29_force_feedback/msg/ForceFeedback "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, position: 0.3, torque: 0.5}"
```
Once the message is published, the wheel rotates to 0.3*<max_angle> (g29: max_angle=450° clockwise, -450° counterclockwise). Publish rate is not restricted.

Parameter

g29_force_feedback.yaml

parameter	default	description
device_name	/dev/input/event19	device name, change the number
loop_rate	0.1	Loop of retrieving wheel position and uploading control to the wheel(每隔`loop_rate`调用一次`loop`函数)
max_torque	1.0	As for g29, 1.0 = 2.5Nm (min_torque < max_torque < 1.0)
min_torque	0.2	Less than 0.2 cannot rotate wheel(只在自对准中使用了)
brake_torque	0.2	Braking torque to stop at the position (descrived below)(这个值会直接乘上target.torque，所以这个值越小，截止力矩越大)
brake_position	0.1	Brake angle (`position`-0.1*max_angle)(整个方向盘的转动角度被映射到[-1,1], 在距离目标位置`brake_position`的角度，会触发`brake_position``)
auto_centering_max_torque	0.3	Max torque for auto centering
auto_centering_max_position	0.2	Max torque position while auto centering (`position`±0.2*max_angle)(触发最大力矩的位置)
eps	0.01	Wheel in the range (position-eps to position+eps) is considered as it has reached the `position`
auto_centering	false	Anto centering if true

Contribution

Fork it (https://github.com/kuriatsu/g29-force-feedback.git)
Create your feature branch (git checkout -b my-new-feature)
Commit your changes (git commit -am 'Add some feature')
Push to the branch (git push origin my-new-feature)
Create new Pull Request

Author

kuriatsu

Change Log

2023-03-19

Bag fix in ros1 branch thanks to pedrohdsimoes

2022-11-6

examples added

An example script of CARLA connection was added. Rotate the wheel according to the ego vehicle spawned in CARLA as shown in the GIF image.

2022-04-21

ROS2-Foxy integration

Now available in ROS2-Foxy thanks to JLBicho

2021-11-03

Huge Improvement !!!

Oscillation problem solved. Wheel stops at the specified position, then starts auto centering. Auto centering mode are set by rosparam in config/g29.yaml, not by rostopic. Name of topic variables changed.

2020-10-10

changed

PID-Constant mode can be changed dynamically!! Removed mode selection from rosparam. Rotation force is ignored when PID mode. (max force can be specified with rosparam (not dynamic))

Reference

https://www.kernel.org/doc/html/v5.4/input/ff.html
https://github.com/flosse/linuxconsole/tree/master

文件说明：

output_new2.txt : 从-1全力转向到1，静置一段时间后，在4次反向加力后保持。
output_new3.txt : 从-1全力转向到1，静置一段时间后，在3次反向加力后保持。
output_new4.txt : 从-1全力转向到1，施加反向阻力，在3次反向加力后，缓慢释放。
output_no_ex_force.txt ：从-1全力转向到1，静置，不施加任何力。

目前问题

关于计算外部力矩，对角速度使用了低通滤波器，然后再角加速度，更加平滑和合理。但是角加速度还是有很大的毛刺，不知道这种现象是否合理，计算得到的外部力矩也非常大。

究其根本，是角加速度$\alpha$的值太大。进而导致$J \alpha$过大，外部力矩计算值很大。

下一步是弄清楚$\alpha$的值为什么这么大，是否合理。

XZHSTAX / ros-g29-force-feedback