Keyboard controller for Autoware

[evshary]

Hi,

Since the keyboard controller is not implemented in Autoware now (based on the Q&A), I just developed one for my testing.
I know the better control way is using the joystick, but sometimes it's convenient to use the keyboard while there is no joystick.
The main idea is from the ROS package teleop_twist_keyboard in robots.

This is the simple tool for teleop with the keyboard:
https://github.com/evshary/autoware_manual_control

The basic functions are:

• Switching different modes
• Adjust the velocity
• Adjust the steering angle

I would appreciate it if anyone can give me feedback (how to improve UI/UX, new functions...) about the tool.

keyboard.controller.mp4

[takayuki5168]

@evshary Thank your for sharing your nice implementation!

It would be better if we could put joy_controller package and your package into together. The output seems almost the same though joy_controller sends a command via api.

What do you think.

[evshary]

Sure, I'm fine to put the implementation into autoware.universe
Would you please share what I should do to put it into autoware.universe? (Maybe need to meet some documentation format?)

[takayuki5168]

I guess it would be better if you could add your implementation to here as a new file keyboard_joy_converter.hpp
https://github.com/autowarefoundation/autoware.universe/tree/main/control/joy_controller/include/joy_controller/joy_converter

Your implementation must be based on this base case.
https://github.com/autowarefoundation/autoware.universe/blob/main/control/joy_controller/include/joy_controller/joy_controller.hpp

If this fix is difficult, let's think about the better idea.

Would you please share what I should do to put it into autoware.universe?

Actually, there is no organized documentation except for this.

https://autowarefoundation.github.io/autoware-documentation/main/contributing/

[shmpwk]

@evshary
I've once implemented keyboard to joy converter, but it is not finished. You can refer to it if you want!
https://github.com/shmpwk/keyboard_to_joy

[evshary]

@takayuki5168 and @shmpwk Thank you! I'll take a look.

[marcusvinicius178]

Hi @evshary @takayuki5168 @shmpwk @esteve @tleyden can you assist me to use the joy controller pkg or the keyboard?
I am facing an issue to make joy controller (DS4) work. Please kindly take a look at my issue:
https://github.com/orgs/autowarefoundation/discussions/3204#discussioncomment-4701134

I will be very grateful if you reply me there.

Thanks in advance

[evshary]

Hi @marcusvinicius178
In fact, I didn't try the joy controller before (No suitable joystick in my hand now).
If you just want to control the vehicle, here are two ways:

1. Use the RViz plugin: tier4_control_rviz_plugin, This is the easiest way to do so.
   https://autowarefoundation.github.io/autoware.universe/main/common/tier4_control_rviz_plugin/#usage
2. Use the keyboard controller mentioned below, but you need to build it by yourself (I haven't integrated it into the Autoware.universe)
   https://github.com/evshary/autoware_manual_control

[marcusvinicius178]

Hi @evshary thanks a lot! Both approaches worked! Nice Pkg you've developed, congratulations, it helped me a lot!

The joystick, however, still didn't work, as you can check in my issue link (if you be curious to debug)....I am waiting some provided solution from Autoware team, I guess there is something with drivers pkg...I was not able to build it....