ros_joystick using turtlesim

Install the package

sudo apt-get install ros-noetic-joy

connect joystick with user system and Configuring the Joystick

ls /dev/input/

The output in terminal like this

by-id event0 event10 event12 event14 event16 event18 event2 event21 event23 event3 event5 event7 event9 mice by-path event1 event11 event13 event15 event17 event19 event20 event22 event24 event4 event6 event8 js0 mouse0

As you can see above, the joystick devices are referred to by js0 .Let's make sure that the joystick is working.

sudo jstest /dev/input/js0

output in terminal

Driver version is 2.1.0. Joystick (ShanWan PC/PS3/Android) has 6 axes (X, Y, Z, Rz, Hat0X, Hat0Y) and 13 buttons (BtnA, BtnB, BtnC, BtnX, BtnY, BtnZ, BtnTL, BtnTR, BtnTL2, BtnTR2, BtnSelect, BtnStart, BtnMode). Testing ... (interrupt to exit) Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12

Lets start joystick node

roscore

Now we can start the joy node

rosrun joy joy_node