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====== Controlling the Ar.Drone with a Gamepad Controller ======

===== Introduction =====

In this tutorial we will learn how to control the ardrone with a game pad controller (**Logitech dual action**). 
 
{{dylanw:gamepad.jpg}}\\ 

===== Package needed =====

Open up a terminal and enter:

  roscd joy


if it does not take you to the folder named "joy". Then make sure to download the stack "joystick_driver" stack.

===== Create the necessary file =====

Step 1:Open up a terminal and enter :

  roscd drone_teleop

Step 2: 

Go to the folder named "bin" and create a file called "gamepad.py".
Paste the following code in the file and save the file.

<code python gamepad.py>
#!/usr/bin/env python
import roslib; roslib.load_manifest('drone_teleop')
import rospy
import rosbag
from geometry_msgs.msg import Twist
from std_msgs.msg import Empty
from std_msgs.msg import Float64
from turtlesim.msg import Velocity
from turtlesim.msg import Pose
from sensor_msgs.msg import Joy


import sys, select, termios, tty
import time
msg = """
Reading from the keyboard  and Publishing to Twist!
  ---------------------------
up/down:       move forward/backward
left/right:    move left/right
w/s:           increase/decrease altitude
a/d:           turn left/right
1 / 2:           takeoff / land
4:             reset (toggle emergency state)
3:              toggle_cam_view(newly added)
6:		HOVER (right side top trigger)
q:              QUIT Auto


anything else: stop

please don't have caps lock on.                      
CTRL+c to quit                           
"""     #control portal for the user                            
xpos=0
ypos=0
xdis=0
joy_axes=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
joy_buttons= [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
move_bindings = {
		68:('linear', 'y', 0.1), #left
		67:('linear', 'y', -0.1), #right
		65:('linear', 'x', 0.1), #forward
		66:('linear', 'x', -0.1), #back
		'w':('linear', 'z', 0.1),
		's':('linear', 'z', -0.1),
		'a':('angular', 'z', 1),
		'd':('angular', 'z', -1),
	       }
def callback(RecMsg):
    
    global xpos #displacement from the bottom line to be followed
    global ypos		
    global xdis	
    xpos = RecMsg.linear
    ypos = RecMsg.angular
   
    global i
def callback1(laserp):
   
    global xdis	
    xdis=  laserp.x	
    
def callback2(joystick_cmd):
	global joy_axes
	global joy_buttons
	joy_axes = joystick_cmd.axes
	joy_buttons=joystick_cmd.buttons

def turnleft():
    twist.angular.z=-1
    pub.publish(twist)	
    time.sleep(1)	
    twist.angular.z=0
    pub.publish(twist)		

def turnright():
    hover()				
    twist.angular.z=1
    pub.publish(twist)	
    time.sleep(1)	
    twist.angular.z=0
    pub.publish(twist)	
def getKey():
	tty.setraw(sys.stdin.fileno())
	select.select([sys.stdin], [], [], 0)
	key = sys.stdin.read(1)
	termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
	return key
def hover():
	twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
	twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
	pub.publish(twist)
def motion():
	twist.linear.x = 0.1*joy_axes[5] #forward(+) and backward(-)(pitch) 
	twist.linear.y = 0.1*joy_axes[2] #lateral movement::LEFT(1):RIGHT(-1)(ROLL)
	twist.linear.z = 0.1*joy_axes[3] #altitude movement:UP(+):DOWN(-)
	twist.angular.x = 0 
	twist.angular.y = 0 
	twist.angular.z = 0.1*joy_axes[4]#angular::left(+)::right(-)	
	pub.publish(twist)

if __name__=="__main__":
    	settings = termios.tcgetattr(sys.stdin)
	print msg
	
	auto = True
	pub = rospy.Publisher('cmd_vel', Twist)
	land_pub = rospy.Publisher('/ardrone/land', Empty)
	reset_pub = rospy.Publisher('/ardrone/reset', Empty)
        toggle_pub=rospy.Publisher('/ardrone/togglecam', Empty)
	takeoff_pub =rospy.Publisher('/ardrone/takeoff', Empty)
	rospy.Subscriber('/drocanny/vanishing_points',Velocity,callback)
	rospy.Subscriber('/drone/walldis',Pose,callback1)
	rospy.Subscriber('/joy',Joy,callback2)
        twist = Twist()
	rospy.init_node('drone_teleop')

	
	try:
		while(True):
                        i=0
			
			#key = 	getKey()
                        buttonvalue=  joy_buttons
			if buttonvalue[1] == 1:
				land_pub.publish(Empty())
				time.sleep(0.25)
			if buttonvalue[3] == 1:
				reset_pub.publish(Empty())
				time.sleep(1.5)
				land_pub.publish(Empty())
				time.sleep(0.25)
			if buttonvalue[0] == 1:				
				takeoff_pub.publish(Empty())
				time.sleep(0.25)
			if buttonvalue[2] == 1:
		     		toggle_pub.publish(Empty())
				time.sleep(0.25)
			if buttonvalue[7]==1:
				time.sleep(0.25)
				while(True):
					#add code here for autonomous functionality of the ardrone
				        
                                            if(buttonvalue[7]==1):
						print 'quit'
						break		
				time.sleep(0.25)	
			if buttonvalue[5] == 1:
				hover()
			
			
			motion()
			
	except Exception as e:
		print e
		print repr(e)

	finally:
		twist = Twist()
		twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
		twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
		pub.publish(twist)

    		termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)


</code>

Step 3:

Go to the folder bin in drone_teleop and right lick on the file "gamepad.py"
and in the permissions tab click the check box "Allow executing file as a program".

===== Mapping of the buttons =====

{{dylanw:game.jpg}}

Control information:

gamepad control manual:

B1/B2: takeoff / land\\ 
B4: reset (toggle emergency state)\\ 
B3: toggle_cam_view\\ 
B6: Hover the drone\\ 
B8: Toggle to autonomous mode\\ 
Axis 5: Move forward and pitch (pitch)\\ 
Axis 4: Rotate left and right (yaw)\\ 
Axis 3: Move up and down(altitude control)\\ 
Axis 2: Move towards left and right(roll)\\ 

===== Testing with gamepad =====
Now enter the following commands in a separate terminal :

  roscore
  rosrun ardrone_brown ardrone_driver
  rosrun joy joy_node
  rosrun drone_teleop gamepad.py
  rosrun image_view image_view image:=/ardrone/image_raw

If everything goes well,you should be able to control the ardrone with joystick. 

===== Use of button 8 =====

The button 8 of the joystick is used for setting ardrone to autonomous mode. To come back out of the autonomous mode hit button 8 again. I will talk more about this in the tutorial "Making the ARDRONE to do line following".

===== ARDRONE controlled through the gamepad controller =====
This program was used in Indoor Aerial Robotics Competition 2012 conducted by Drexel University ,USA.
Here is a video of that.

**VIDEO NOT FOUND**