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ros-g29-force-feedback

Overview

Ros package to control force feedback of logitech g29 steering wheel from 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.

logitech g29

Features

  • Standalone ros package to control steering wheel. (doesn't depend on the other ros packages like ros-melodic-joy etc.)

  • We can control angle of logitech g29 steering wheel with throwing ros message.

  • Two control modes

    1. Control mode
      Rotate wheel to the specified angle. This mode can rotate wheel to the specified angle and torque with your hands off, so this mode is useful for the user interface of autonomous driving system.

    2. Auto centering mode
      This mode make it easier to control vehicle manually in the driving simulator. Centering torque can be specified with parameters.

Demo

demo_gif

Requirement

  • ubuntu
  • ros melodic
  • 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

  1. create catkin_ws 
    cd /path/to/any/dir
mkdir -p catkin_ws/src
cd /catkin_ws/src
catkin_init_workspace
  2. download and build package 
    cd /catkin_ws/src
git clone https://github.com/kuriatsu/ros-g29-force-feedback.git g29_force_feedback
cd ../
catkin_make

Usage

  1. confirm your device name

    $ cat /proc/bus/input/devices

    find Logitech G29 Driving Force Racing Wheel and check Handlers (ex. event19)

  2. change parameters in 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
    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
    brake_torque 0.2 Braking torque to stop at the position (descrived below)
    brake_position 0.1 Braking position(descrived below)
    auto_centering_max_torque 0.3 Max torque for auto centering
    auto_centering_max_position 0.2 Max torque position while auto centering
    eps 0.01 Wheel in the range (from position-eps to position+eps) is considered as it has reached the specified position
    auto_centering false Anto centering if true

    image

  3. run ros node

    $ source /path/to/catkin_ws/devel/setup.bash
$ rosparam load /path/to/catkin_ws/src/g29_force_feedback/g29_force_feedback.yaml
$ rosrun g29-force-feedback node

  4. Throw message (It's better to use tab completion)

    $ rostopic pub /ff_target g29_force_feedback/ForceFeedback "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
position: 0.3
torque: 0.0"

    Once the message is thrown, the wheel rotates to 0.3*<max_angle> (as for g29 ±450°). Publish rate is not restricted.

Contribution

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

Author

kuriatsu

Change Log

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))

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.