.. _virtual_joy:

*******************
Virtual ROS Joypad
*******************

rqt_joy - Installation
=========================

Clone and install the following package inside your **robot_ws**:

.. code-block:: bash

  $ cd ~/robot_ws/src

  $ git clone -b eloquent-devel https://git.fh-aachen.de/Wiesen/rqt_joy

  $ cd ~/robot_ws

  $ colcon build

rqt_joy - Run
=========================

Now start your virtual joypad:

.. code-block:: bash

  $ ros2 run rqt_joy rqt_joy

The following window should pop up:

.. figure:: /_resources/image/virtual_joy.png

  rqt_joy

This virtual joypad consists of

* 1 analog stick with 2 axis and
* 4 buttons 'A', 'B', 'C' and 'D'.

It will behave as a real joypad used with ROS.
For all following instructions make sure to start the virtual joypad instead
of a physical one. Please replace all the hardware specific commands with the
commands explained on this page!