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, LGSVL etc.

examples/carla_control.py

• 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)

  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

• 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

$ 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...

1. create ros2_ws

   mkdir -p ros2_ws/src
   cd /ros2_ws
   colcon build

2. download and build package

   cd /ros2_ws/src
   git clone https://github.com/kuriatsu/ros-g29-force-feedback.git
   cd ../
   colcon build --symlink-install

1. Get device name

   $ 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

   $ 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 

4. Publish message (It's better to use tab completion)

   $ 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.

g29_force_feedback.yaml

1. Fork it (https://github.com/kuriatsu/g29-force-feedback.git)
2. Create your feature branch (git checkout -b my-new-feature)
3. Commit your changes (git commit -am 'Add some feature')
4. Push to the branch (git push origin my-new-feature)
5. Create new Pull Request

kuriatsu

Bag fix in ros1 branch thanks to pedrohdsimoes

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.

Now available in ROS2-Foxy thanks to JLBicho

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.

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))

https://www.kernel.org/doc/html/v5.4/input/ff.html
https://github.com/flosse/linuxconsole/tree/master