joy_feedback_ros

Create a simple ros node to allow setting rumble force feedback on a Xbox wired controller (and perhaps logitech F510 and anything else that is simlar) using fftest.c as a starting point. Later try to integrate this into the proper https://github.com/ros-drivers/joystick_drivers repository.

Current usage

Set a strong and weak magnitude to 18000 and then play the (hard-coded) index 0

roslaunch joy_feedback_ros joy_feedback.launch 
rostopic pub -1 /rumble joy_feedback_ros/Rumble 18000 18000
rostopic pub /play std_msgs/UInt16 1

A sine effect:

rostopic pub /periodic joy_feedback_ros/Periodic  '{waveform: 2, period: 100, magnitude: 12000, offset: 0, phase: 0, envelope:  {attack_length: 200, attack_level: 0, fade_length: 200, fade_level: 0}}'
rostopic pub /play std_msgs/UInt16 1

SAW_UP and SAW_DOWN don't work on the Xbox 360 controller, it produces an 'Invalid argument' from ioctl.

Useful information

https://www.kernel.org/doc/Documentation/input/ff.txt

- FF_CONSTANT can render constant force effects
- FF_PERIODIC can render periodic effects with the following waveforms:
  - FF_SQUARE   square waveform
  - FF_TRIANGLE   triangle waveform
  - FF_SINE   sine waveform
  - FF_SAW_UP   sawtooth up waveform
  - FF_SAW_DOWN   sawtooth down waveform
  - FF_CUSTOM   custom waveform
- FF_RAMP       can render ramp effects
- FF_SPRING can simulate the presence of a spring
- FF_FRICTION can simulate friction
- FF_DAMPER can simulate damper effects
- FF_RUMBLE rumble effects
- FF_INERTIA    can simulate inertia
- FF_GAIN gain is adjustable
- FF_AUTOCENTER autocenter is adjustable

Note: In most cases you should use FF_PERIODIC instead of FF_RUMBLE. All
  devices that support FF_RUMBLE support FF_PERIODIC (square, triangle,
  sine) and the other way around.

My current forcefeedback device:

$ lsusb
Bus 002 Device 003: ID 045e:028e Microsoft Corp. Xbox360 Controller

Test it with fftest:

https://github.com/flosse/linuxconsole/blob/master/utils/fftest.c

The rumble effects worked:

$ fftest /dev/input/event13
Force feedback test program.
HOLD FIRMLY YOUR WHEEL OR JOYSTICK TO PREVENT DAMAGES

Device /dev/input/event13 opened
Axes query: 
Effects: Periodic Rumble 
Number of simultaneous effects: 16
Upload effects[1]: Invalid argument
Upload effects[2]: Invalid argument
Upload effects[3]: Invalid argument
Enter effect number, -1 to exit
4
Now Playing: Strong Rumble
Enter effect number, -1 to exit
5
Now Playing: Weak Rumble

None of these effects worked:

1
Now Playing: Constant Force
Enter effect number, -1 to exit
2
Now Playing: Spring Condition
Enter effect number, -1 to exit
3
Now Playing: Damping Condition
Enter effect number, -1 to exit