Remote Control Command Module

Description: Used to parse the data from the receiver and dynamically set the parameters for various functional modules. This node can modify the mapping relationship of buttons by changing the configuration file.

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

Subscribed

ROS Topic	Interface	Frame ID	Description
`/joy`	`sensor_msgs::msg::Joy`	`joy`	For receiving nodes from third-party remote controllers
`system/battery/left`	`sensor_msgs::msg::BatteryState`	`left_battery_info`	Remote Control Displaying Left Battery Information
`system/battery/right`	`sensor_msgs::msg::BatteryState`	`right_battery_info`	Remote Control Displaying Right Battery Information

Published

ROS Topic	Interface	Frame ID	Description
`command/teleop/command`	`sensor_msgs::msg::Joy`	`joy`	Publish the message to change the button order to `active_command`
`/joy`	`sensor_msgs::msg::Joy`	`joy`	Publish data to the Joy message interface

Config

Param	Range	Default	Description
DebugMode	true/false	false	Debugging using switches
AxesSize	1-8	8	The number of processed keys
MoveAxes	a/b \| 0-7	a0	Corresponding to the first numerical value in the message, analog quantity, forward axis
TurnAxes	a/b \| 0-7	a1	Corresponding to the second numerical value in the message, analog quantity, steering axis
PitchAxes	a/b \| 0-7	a2	Corresponding to the third numerical value in the message, analog quantity, pitch angle
RollAxes	a/b \| 0-7	a3	Corresponding to the fourth numerical value in the message, analog quantity, roll axis
StandUp	a/b \| 0-7	b4	orresponding to the fifth numerical value in the message, switch quantity, standing switch
HeightSwitch	a/b \| 0-7	b5	Corresponding to the sixth numerical value in the message, switch quantity, height adjustment
JumpButton	a/b \| 0-7	b6	Corresponding to the seventh numerical value in the message, switch quantity, jump switch
SpeedButton	a/b \| 0-7	b7	Corresponding to the eighth numerical value in the message, switch quantity, speed adjustment
AxesBias	float	0.0013	Dead zone range of the remote control analog axis