controller_type:="analog" causes crash

[fredrikbaberg]

I'm trying to run jaco_teleop with jaco2 as follows, with a Xbox 360 wireless gamepad:
roslaunch jaco_teleop joystick_teleop.launch controller_type:="analog"

After calibrating I get the following error:
_terminate called after throwing an instance of 'std::out_of_range'
what(): vector::M_range_check
This does not happen with "digital", but the I can't control the arm properly.

(this is for the version through apt-get, I'm in the process of testing it after compiling from source)

[dekent]

If you run the ros joy node and echo the /joy topic, what values change when you press the left trigger and the right trigger?

This is probably an issue with a different button/axis mapping on the ros topic. We use either a logitech wireless gamepad or a wired Xbox 360 gamepad. If the mapping is different, you'll need to remap the button configuration with something like joystick_remapper.

[fredrikbaberg]

What I get is: "axes: [0.0, 0.0, 1.0, -0.0, 0.0, 1.0]", so axis 2 and 5 (if counting starts on 0).
I've compared to "Microsoft Xbox 360 Wired Controller for Linux" on http://wiki.ros.org/joy, and the difference I find is that the cross keys are buttons, not axis. They map as follows (indexing starts at zero):
11 - Cross key left
12 - Cross key right
13 - Cross key up
14 - cross key down

[dekent]

Ah, I see. The controllers we've tested add the cross keys to the axes array instead of the buttons array, so the teleop code is polling for out of range values. For now I can upload a quick fix so it doesn't crash on you. The cross key functionality (displaying help in the terminal) won't work, but you should be able to control the arm.

[dekent]

Try pulling from the develop branch now. I can do a more complete fix later!

[fredrikbaberg]

Thank you! I have tried it and it works for me.