ros-g29-force-feedback

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
  Noetic	tested	no
  ROS2	--	--
  Dashing	no	no
  Foxy	tested	no
  Galactic	tested	no
  Humble	no	no

Requirement of master branch

• ubuntu18-22
• 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

1. create ros2_ws

   mkdir -p ros2_ws/src
   cd /ros2_ws
   colcon build

2. 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

1. Get device name

   $ cat /proc/bus/input/devices

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

2. Change device_name in config/g29.yaml to the device name you obtained in step 1

3. Launch ros node

   $ source ros2_ws/install/setup.bash
   $ ros2 run ros_g29_force_feedback g29_force_feedback --ros-args --params-file ros2_ws/src/ros_g29_force_feedback/config/g29.yaml 

4. 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
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	Brake angle (position-0.1*max_angle)
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)
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

Troubleshoot

No module named 'ros_g29_force_feedback' when run carla_control.py

• If you use conda, deactivate and try again. rclpy and conda seem to conflict.
• If you have multiple ros2 versions, source one of them or remove one of them.

Cannot open the device

Double check the output of cat /proc/bus/input/devices and update device_name in config/g29.yaml. Reboot can change the ID.

config.yaml is not refrected to ros

Try to update the parameters inside the source code.

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