Joystick teleoperation doesn't work on Jetson Xavier

[raysu1027]

Hi

I want to use the joystick to remote control the create3 but cannot run.

• Hardware setup
  

• Use environment
  OS : ubuntu 20.04.06LTS
  OS Type : 64bit
  Graphics : NVIDIA Tegra Xavier
  Building up by this link : https://iroboteducation.github.io/create3_docs/setup/jetson/
  Start ROS 2 Galactic container
  Version : dustynv/ros:galactic-ros-base-l4t-r35.1.0

• Issues

Run Joystick command :

root@ros2-desktop:~# ros2 launch create3_teleop teleop_joystick_launch.py joy_dev:=/dev/input/js0

Command look like is ok, but joystick cannot contol.

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-04-24-08-31-07-227911-ros2-desktop-17156
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joy_node-1]: process started with pid [17158]
[INFO] [teleop_node-2]: process started with pid [17160]
[teleop_node-2] [INFO] [1682325067.966764605] [TeleopTwistJoy]: Teleop enable button 2.
[teleop_node-2] [INFO] [1682325067.966982657] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-2] [INFO] [1682325067.967053698] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.700000.
[teleop_node-2] [INFO] [1682325067.967101602] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.500000.
[teleop_node-2] [INFO] [1682325067.967142435] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.400000.
[teleop_node-2] [INFO] [1682325067.967182276] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.000000.

Then i find the ls /dev/input/.
Inside container cannot find js0 show error .

ls: cannot access '/dev/input/': No such file or directory

But outside container can see js0.

Jetson Xavier and Create3 are link same AP.
Am i missing something?

[alsora]

Hi @raysu1027, by default a docker container will not be able to see the devices from the host computer.
You should use the --device flag when starting the container for that.
See more details here https://docs.docker.com/engine/reference/commandline/run/#device

Something like this should do it --device=/dev/input/js0:/dev/input/js0

Then, I recommend to also double check whether the Create 3 and the Jetson nano can communicate over ROS 2.
To do that, you can try to publish some velocity commands without using the joystick and see if the robot moves

ros2 topic pub -r 20 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

[raysu1027]

Hi @alsora

I am add the --device=/dev/input/js0:/dev/input/js0 in /jetson-containers/scripts/docker_run.sh

#!/usr/bin/env bash

CONTAINER_IMAGE="nvcr.io/nvidian/nvidia-l4t-base:r32.4"

USER_VOLUME=""
USER_COMMAND=""

show_help() {
    echo " "
    echo "usage: Starts the Docker container and runs a user-specified command"
    echo " "
    echo "   ./scripts/docker_run.sh --container DOCKER_IMAGE"
    echo "                           --volume HOST_DIR:MOUNT_DIR"
    echo "                           --run RUN_COMMAND"
    echo " "
    echo "args:"
    echo " "
    echo "   --help                       Show this help text and quit"
    echo " "
    echo "   -c, --container DOCKER_IMAGE Specifies the name of the Docker container"
    echo "                                image to use (default: 'nvidia-l4t-base')"
    echo " "
    echo "   -v, --volume HOST_DIR:MOUNT_DIR Mount a path from the host system into"
    echo "                                   the container.  Should be specified as:"
    echo " "
    echo "                                      -v /my/host/path:/my/container/path"
    echo " "
    echo "   -r, --run RUN_COMMAND  Command to run once the container is started."
    echo "                          Note that this argument must be invoked last,"
    echo "                          as all further arguments will form the command."
    echo "                          If no run command is specified, an interactive"
    echo "                          terminal into the container will be provided."
    echo " "
}

die() {
    printf '%s\n' "$1"
    show_help
    exit 1
}

# parse arguments
while :; do
    case $1 in
        -h|-\?|--help)
            show_help    # Display a usage synopsis.
            exit
            ;;
        -c|--container)       # Takes an option argument; ensure it has been specified.
            if [ "$2" ]; then
                CONTAINER_IMAGE=$2
                shift
                       else
                die 'ERROR: "--container" requires a non-empty option argument.'
            fi
            ;;
        --container=?*)
            CONTAINER_IMAGE=${1#*=} # Delete everything up to "=" and assign the remainder.
            ;;
        --container=)         # Handle the case of an empty --image=
            die 'ERROR: "--container" requires a non-empty option argument.'
            ;;
        -v|--volume)
            if [ "$2" ]; then
                USER_VOLUME=" -v $2 "
                shift
            else
                die 'ERROR: "--volume" requires a non-empty option argument.'
            fi
            ;;
        --volume=?*)
            USER_VOLUME=" -v ${1#*=} " # Delete everything up to "=" and assign the remainder.
            ;;
        --volume=)         # Handle the case of an empty --image=
            die 'ERROR: "--volume" requires a non-empty option argument.'
            ;;
        -r|--run)
            if [ "$2" ]; then
                shift
                USER_COMMAND=" $@ "
            else
                die 'ERROR: "--run" requires a non-empty option argument.'
            fi
            ;;
        --)              # End of all options.
            shift
            break
            ;;
        -?*)
            printf 'WARN: Unknown option (ignored): %s\n' "$1" >&2
            ;;
        *)               # Default case: No more options, so break out of the loop.
            break
    esac

    shift
done             
# check for V4L2 devices
V4L2_DEVICES=" "

for i in {0..9}
do
        if [ -a "/dev/video$i" ]; then
                V4L2_DEVICES="$V4L2_DEVICES --device /dev/video$i "
        fi
done

# check for display
DISPLAY_DEVICE=" "

if [ -n "$DISPLAY" ]; then
        # give docker root user X11 permissions
        sudo xhost +si:localuser:root

        # enable SSH X11 forwarding inside container (https://stackoverflow.com/q/48235040)
        XAUTH=/tmp/.docker.xauth
        xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
        chmod 777 $XAUTH

        DISPLAY_DEVICE="-e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix -v $XAUTH:$XAUTH -e XAUTHORITY=$XAUTH"
fi

#echo "CONTAINER_IMAGE: $CONTAINER_IMAGE"
#echo "USER_VOLUME:     $USER_VOLUME"
#echo "USER_COMMAND:    '$USER_COMMAND'"
#echo "V4L2_DEVICES:    $V4L2_DEVICES"
#echo "DISPLAY_DEVICE:  $DISPLAY_DEVICE"

# run the container
sudo docker run --device=/dev/input/js0:/dev/input/js0 --runtime nvidia -it --rm --network host \
        $DISPLAY_DEVICE $V4L2_DEVICES \
        $USER_VOLUME $CONTAINER_IMAGE $USER_COMMAND

And then in container i can see the "js0", but it can not using Joystick, too.

root@ros2-desktop:/# ros2 launch create3_teleop teleop_joystick_launch.py joy_dev:=/dev/input/js0
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-04-28-07-41-47-508182-ros2-desktop-135
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joy_node-1]: process started with pid [137]
[INFO] [teleop_node-2]: process started with pid [139]
[teleop_node-2] [INFO] [1682667708.305095004] [TeleopTwistJoy]: Teleop enable button 2.
[teleop_node-2] [INFO] [1682667708.305295488] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-2] [INFO] [1682667708.305341761] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.700000.
[teleop_node-2] [INFO] [1682667708.305419618] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.500000.
[teleop_node-2] [INFO] [1682667708.305462051] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.400000.
[teleop_node-2] [INFO] [1682667708.305528004] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.000000.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[joy_node-1] [INFO] [1682668006.024821070] [rclcpp]: signal_handler(signal_value=2)
[teleop_node-2] [INFO] [1682668006.024887183] [rclcpp]: signal_handler(signal_value=2)
[INFO] [teleop_node-2]: process has finished cleanly [pid 139]
[INFO] [joy_node-1]: process has finished cleanly [pid 137]
root@ros2-desktop:/# ls /dev/input/
js0

In jetson Xavier it is setting Fast-DDS. it's correct?

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
   <participant profile_name="unicast_connection" is_default_profile="true">
       <rtps>
           <builtin>
               <metatrafficUnicastLocatorList>
                   <locator/>
               </metatrafficUnicastLocatorList>
               <initialPeersList>
                   <locator>
                       <udpv4>
                           <address>192.168.186.3</address>
                       </udpv4>
                   </locator>
               </initialPeersList>
           </builtin>
       </rtps>
   </participant>
</profiles>

I am try to publish some velocity commands without using the joystick, they are working normally.

ros2 topic pub -r 20 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" 

ros2 run teleop_twist_keyboard teleop_twist_keyboard

So i am very confused now.

[alsora]

A few additional ideas:

1. Can you try the following command (note the addition of joy_config:=ps3)

ros2 launch create3_teleop teleop_joystick_launch.py joy_dev:=/dev/input/js0 joy_config:=ps3

2. Are you pressing the "enable button" after starting the teleoperation app?
3. Have you tried doing this with the laptop rather than with the Jetson?

[raysu1027]

Hi alsora

Sorry for late.

• Try step 1.

It can not work too.

root@ros2-desktop:/# ls /dev/input/
event0  event10  event2  event5  event7  event9  mice    mouse1
event1  event11  event3  event6  event8  js0      mouse0
root@ros2-desktop:/# ros2 launch create3_teleop teleop_joystick_launch.py joy_dev:=/dev/input/js0 joy_config:=ps3
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-05-02-01-43-33-004437-ros2-desktop-175
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joy_node-1]: process started with pid [177]
[INFO] [teleop_node-2]: process started with pid [179]
[teleop_node-2] [INFO] [1682991814.131505774] [TeleopTwistJoy]: Teleop enable button 8.
[teleop_node-2] [INFO] [1682991814.131732078] [TeleopTwistJoy]: Turbo on button 10.
[teleop_node-2] [INFO] [1682991814.131780910] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.700000.
[teleop_node-2] [INFO] [1682991814.131829134] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.500000.
[teleop_node-2] [INFO] [1682991814.131870254] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.400000.
[teleop_node-2] [INFO] [1682991814.131916398] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.000000.

But in command rqt can see the joy node

• Try step 2.

Which one is ''enable button" , is it button A?( I am try too press button "A" but it can not work too )
Joystick power led is on.

I try the command ros2 topic echo /joy can see the joystick signal.
Press button "A" , in joy node can see the bottons signal "0" turn to "1".

root@ros2-desktop:/# ros2 run joy joy_enumerate_devices
Joystick Device ID : Joystick Device Name
-----------------------------------------
                 0 : ShanWan USB WirelessGamepad 
root@ros2-desktop:/# ros2 run joy joy_node
[INFO] [1683189105.295713572] [joy_node]: No haptic (rumble) available, skipping initialization
[INFO] [1683189105.296079947] [joy_node]: Opened joystick: ShanWan USB WirelessGamepad .  deadzone: 0.050000
^C[INFO] [1683189135.746689596] [rclcpp]: signal_handler(signal_value=2)
root@ros2-desktop:/# ros2 topic echo /joy
header:
  stamp:
    sec: 1683189209
    nanosec: 520004801
  frame_id: joy
axes:
- -0.0
- -0.0
- -0.0
- -0.0
- 0.9999999403953552
- 0.9999999403953552
- 1.0
- -1.0
buttons:
- 1
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
---

• Try step 3.

On laptop i am bulid create3_examples have some issues.

Use environment
OS : ubuntu 20.04.06LTS
OS Type : 64bit
ROS2 : Galactic
Bulid link : https://iroboteducation.github.io/create3_docs/setup/ubuntu2004/

adv@adv-ThinkPad-X240:~/create3_examples_ws$ rosdep install --from-path src --ignore-src -yi
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
create3_lidar: Cannot locate rosdep definition for [slam_toolbox]
create3_teleop: Cannot locate rosdep definition for [teleop_twist_joy]