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7.4.7.1. USB “joystick” foot pedals

Ignore this section if you are not using a USB “joystick” foot pedal.

After you made sure sawJoystick is compiled in your ROS workspace, you will need to configure the dVRK console to use the sawJoystick component. Your console.json file should contain:

"component-manager": {
    "components":
    [
        {
            "shared-library": "sawJoystick",
            "class-name": "mtsJoystick",
            "constructor-arg": {
                "Name": "joystick"
            },
            "configure-parameter": "misc/sawJoystickConfiguration.json"
        }
    ]
}
,
"console-inputs":
{
    "operator-present": {
        "component": "joystick",
        "interface": "OperatorPresent"
    }
    ,   "clutch": {
        "component": "joystick",
        "interface": "Clutch"
    }
}

Then you need to configure the sawJoystick component so that buttons are mapped to names that match the dVRK foot pedal names (e.g. “OperatorPresent”, “Clutch”…). We provide an example of sawJoystick configure for the dVRK in share/misc/sawJoystickConfiguration.json:

"converters":
[
    {
        "type": "interface-provided-button",
        "index-input": 1,
        "interface-name": "OperatorPresent"
    }
    ,
    {
        "type": "interface-provided-button",
        "index-input": 0,
        "interface-name": "Clutch"
    }
]
,
"device": "/dev/input/js0"

To test which “device” and “index-input” to use, you can run the example application that comes with sawJoystick: sawJoystickQtExample. To test different devices, you can use the -d option (e.g. -d /dev/input/js0).