Input Interfaces

This directory contains ROS2 packages that provide input interfaces for robot teleoperation and control in the extender project. These interfaces allow users to provide commands to robots through various input devices and methods.

Available Input Interfaces

Joystick Interface (joystick_interface)

The joystick interface package enables teleoperation using standard joysticks and 3D mice (SpaceMouse). It processes joystick inputs and publishes structured teleoperation commands.

For detailed documentation, see joystick_interface/Readme.md.

Key Features:

• Support for 2D joysticks (/joy topic) and SpaceMouse (/spacenav/joy topic)
• Multiple control modes: translation+rotation, rotation-only, translation-only, and full 6DOF
• Configurable axis mappings and scaling factors
• Integrated gripper control for Franka robots
• Custom TeleopCommand message with twist and mode information

Nodes:

• joystick_input_node: Main teleoperation node
• franka_gripper_node: Gripper control node

Adding New Input Interfaces

To add a new input interface:

1. Create a new ROS2 package in this directory
2. Follow the naming convention: {device}_interface
3. Implement nodes that publish to standardized command topics
4. Provide configuration files and documentation
5. Update this README