ros-g29-force-feedback

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ros-g29-force-feedback

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ros package for logicool g29 steering force feedback control

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# 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](https://carla.org/), [LGSVL](https://www.lgsvlsimulator.com/) etc.

`examples/carla_control.py`

![demo_gif](https://github.com/kuriatsu/ros-g29-force-feedback/blob/image/images/force_feedback_test.gif)

# 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](https://github.com/kuriatsu/ros-g29-force-feedback/tree/ros1))
    |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
```bash
$ 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
    ```bash
    mkdir -p ros2_ws/src
    cd /ros2_ws
    colcon build
    ```
2. download and build package
    ```bash
    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
    ```bash
    $ 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
    ```bash
    $ 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 
    ```

1. Publish message (It's better to use tab completion)  
    ```bash
    $ 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

![ros_g29_ff](https://user-images.githubusercontent.com/38074802/167057448-1fa21956-ae91-4e51-bee4-1fcdc05cae51.png)

# 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](https://github.com/kuriatsu)

# Change Log

## 2023-03-19
Bag fix in ros1 branch thanks to [pedrohdsimoes](https://github.com/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](https://github.com/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

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